用于反演自然生物关节结构及力学性能的柔性机构设计理论与方法

项目名称： 用于反演自然生物关节结构及力学性能的柔性机构设计理论与方法

项目编号： No.51505164

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 郭家杰

作者单位： 华中科技大学

项目金额： 20万元

中文摘要： 要实现用工程科学方法复现生物关节卓越运动能力这一科学目标，需要弄清楚生物关节等效的共轭运动曲面及其卓越动力学特性的形成机理。当前，人们还无法在生物体内或生物体外直接测量、辨识出生物关节的共轭运动曲面及其实时变化的动力学特性。如何设计与生物关节随动的柔性机构，借助该柔性机构，实时感知并反演生物关节的运动结构，揭示其动力学特性，已成为生机电一体化前沿研究领域亟待解决的一个重要基础科学问题。本项目以人体膝关节为研究载体，针对生物关节等效共轭运动曲面反演及动力学特性认知对柔性机构构造的要求，开展生物关节自然运动解析与共轭运动曲面重构，以及基于柔性机构的生物关节动力学特性实时辨识等方面的研究，建立新型柔性机构设计理论与方法，促进生机电一体化交叉学科的发展，使我国智能康复工程装备乃至智慧机器研究水平跻身于世界前列，具有重要的学术意义和应用价值。

中文关键词： 柔性机构；生物关节；人体在环感知；机电一体化；系统识别

英文摘要： To achieve the objective of reproducing the excellent athletic ability of a biological joint (bio joint) with engineering methods, it is necessary to have an in-depth knowledge of equivalent articular contact surfaces as well as the mechanism of outstanding dynamics features. Nowadays, it is still challenging or even impossible to measure articular contact surfaces or identify time-varying dynamics features with in vivo or vitro methods. It has been a fundamental science problem on the cutting edge of research in biomechatronics to sense bio joint structures in real time and reveal the dynamics features with the help of a compliant mechanism that follows bio joint motions. Motivated by the need for guidelines of compliant mechanism design to reconstruct equivalent articular contact surfaces and understand the dynamics features of bio joints, this proposed project focuses on research topics on human knee joints including natural motion analysis of bio joints, geometry reconstruction of articular contact surfaces, real time identification of bio joint dynamics features, and design theory and method for a novel compliant mechanism. This proposed work will be beneficial with academic significance and application value, which will promote the national research level of intelligent equipment in rehabilitation engineering or even smart machine among the highest in the world.

英文关键词： compliant mechanism;biological joint;human-in-the-loop sensing;mechatronics;system identification