穿戴下肢支撑外骨骼时人体下肢生物力学仿真分析
李俊龙，干静，宋芯
（四川大学 机械工程学院，四川 成都 610065）
摘要：随着工业外骨骼的广泛应用，外骨骼在辅助人体的同时也产生了负载，这种负载与外骨骼重量相关。为探究下肢支撑外骨骼重量对人体的影响，采用有限元方法对穿戴工业外骨骼且处于静态站姿状态下的人体进行生物力学仿真分析。基于POSER软件和人体解剖学数据建立包含人体皮肤、软组织、骨骼以及骨连结的人体下肢有限元模型，通过与尸体实验及文献数据的对比验证了模型可靠性。基于上述模型，在ANSYS中计算不同外骨骼重量下人体的受力情况，对比分析各部位应力分布情况。结果表明：在穿戴下肢支撑外骨骼状态下，人体各部位的应力值增长与外骨骼重量线性相关，且人体后腰部位、长骨骨干、膝关节、踝关节、足跟处存在较大的应力。
关键词：下肢支撑外骨骼；有限元分析；人体有限元模型；腰部负重
中图分类号：TP242；R318.01 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.12.011
文章编号：1006-0316 (2023) 12-0066-08
Biomechanical Simulation Analysis of Human Lower Limbs with Support Exoskeleton
LI Junlong，GAN Jing，SONG Xin
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：Industrial exoskeletons are widely used to assist human body. However, they also generate loads due to the weight of themselves. In order to investigate the impact of the weight of the lower limb support exoskeleton on human body, the finite element method was used to carry out the biomechanical simulation analysis of human with industrial exoskeleton in the static standing position. The finite element model includes skin, soft tissues, bones and bone joints, which was established based on POSER software and human anatomy data. The reliability of the model was verified in comparison with cadaveric experiments and literature data. Based on this model, the stresses of human body under different exoskeleton weights were calculated with ANSYS, and the stress values of each part were compared and analyzed. The results show that with lower limb support exoskeleton, the growth of stress values in each part of the human body is linearly related to the weight of the exoskeleton, and stress concentrates on the back of the waist, the long bone shaft, the knee joint, the ankle joint and the heel.
Key words：lower limb support exoskeleton；finite element analysis；human finite element model；lumbar load
———————————————
收稿日期：2023-04-28
基金项目：军工横向项目（HG2021009）
作者简介：李俊龙（1998－），男，回族，湖南常德人，硕士研究生，主要研究方向为人机工程，E-mail：2057362592@qq.com；干静（1968－），女，重庆人，博士研究生，教授，主要研究方向为人机包容性设计、计算机辅助工业设计、机械设计等。
（四川大学 机械工程学院，四川 成都 610065）
摘要：随着工业外骨骼的广泛应用，外骨骼在辅助人体的同时也产生了负载，这种负载与外骨骼重量相关。为探究下肢支撑外骨骼重量对人体的影响，采用有限元方法对穿戴工业外骨骼且处于静态站姿状态下的人体进行生物力学仿真分析。基于POSER软件和人体解剖学数据建立包含人体皮肤、软组织、骨骼以及骨连结的人体下肢有限元模型，通过与尸体实验及文献数据的对比验证了模型可靠性。基于上述模型，在ANSYS中计算不同外骨骼重量下人体的受力情况，对比分析各部位应力分布情况。结果表明：在穿戴下肢支撑外骨骼状态下，人体各部位的应力值增长与外骨骼重量线性相关，且人体后腰部位、长骨骨干、膝关节、踝关节、足跟处存在较大的应力。
关键词：下肢支撑外骨骼；有限元分析；人体有限元模型；腰部负重
中图分类号：TP242；R318.01 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.12.011
文章编号：1006-0316 (2023) 12-0066-08
Biomechanical Simulation Analysis of Human Lower Limbs with Support Exoskeleton
LI Junlong，GAN Jing，SONG Xin
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：Industrial exoskeletons are widely used to assist human body. However, they also generate loads due to the weight of themselves. In order to investigate the impact of the weight of the lower limb support exoskeleton on human body, the finite element method was used to carry out the biomechanical simulation analysis of human with industrial exoskeleton in the static standing position. The finite element model includes skin, soft tissues, bones and bone joints, which was established based on POSER software and human anatomy data. The reliability of the model was verified in comparison with cadaveric experiments and literature data. Based on this model, the stresses of human body under different exoskeleton weights were calculated with ANSYS, and the stress values of each part were compared and analyzed. The results show that with lower limb support exoskeleton, the growth of stress values in each part of the human body is linearly related to the weight of the exoskeleton, and stress concentrates on the back of the waist, the long bone shaft, the knee joint, the ankle joint and the heel.
Key words：lower limb support exoskeleton；finite element analysis；human finite element model；lumbar load
———————————————
收稿日期：2023-04-28
基金项目：军工横向项目（HG2021009）
作者简介：李俊龙（1998－），男，回族，湖南常德人，硕士研究生，主要研究方向为人机工程，E-mail：2057362592@qq.com；干静（1968－），女，重庆人，博士研究生，教授，主要研究方向为人机包容性设计、计算机辅助工业设计、机械设计等。
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