Comfort optimization of a new type of foot mechanism for lower extremity exoskeleton_Journal of Biomedical Engineering

Authors：

LUAN Yipeng ,  ZHANG Jianjun , QI Kaicheng , YANG Gaowei

Hebei University of Technology, School of Mechanical Engineering, Department of Mechanical Engineering, Tianjin 300130, P.R.China;

Corresponding author：

ZHANG Jianjun, Email: zhjjun96@163.com

Keywords：

lower extremity exoskeleton; foot comfort; vibration weighted root-mean-square acceleration; vibration reduction

DOI：

10.7507/1001-5515.201908045

Video：

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In order to reduce the impact caused by the contact between the foot and the ground when wearing the lower extremity exoskeleton under the condition of high load, this paper proposed an exoskeleton foot mechanism for improving the foot comfort, and optimized the key index of its influence on the comfort. Firstly, the physical model of foot mechanism was established based on the characteristics of foot stress in gait period, and then the mathematical model of vibration was abstracted. The correctness of the model was verified by the finite element analysis software ANSYS. Then, this paper analyzed the influence of vibration parameters on absolute transmissibility based on vibration mathematical model, and optimized vibration parameters with MATLAB genetic algorithm toolbox. Finally, this paper took white noise to simulate the road elevation as the vibration input, and used the visual simulation tool Simulink in MATLAB and the vibration equation to construct the acceleration simulation model, and then calculated the vibration weighted root mean square acceleration value of the foot. The results of this study show that this foot comfort mechanism can meet the comfort indexes of vibration absorption and plantar pressure, and this paper provides a relatively complete method for the design of exoskeleton foot mechanism, which has reference significance for the design of other exoskeleton foot and ankle joint rehabilitation mechanism.

Citation： LUAN Yipeng, ZHANG Jianjun, QI Kaicheng, YANG Gaowei. Comfort optimization of a new type of foot mechanism for lower extremity exoskeleton. Journal of Biomedical Engineering, 2020, 37(2): 324-333. doi: 10.7507/1001-5515.201908045 Copy

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3.	王秋惠, 魏玉坤, 刘力蒙. 康复机器人研究与应用进展. 包装工程, 2018, 39(18): 83-89.
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8.	Neuhaus P D, Noorden J H, Craig T J, et al. Design and evaluation of Mina: a robotic orthosis for paraplegics//2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich: IEEE, 2011: 12173030.
9.	归丽华, 杨智勇, 顾文锦, 等. 能量辅助骨骼服 NAEIES 的开发. 海军航空工程学院学报, 2007, 22(4): 467-470.
10.	陈辉. 下肢助力外骨骼生物-机械系统仿真及驱动单元设计. 哈尔滨: 哈尔滨工业大学, 2013.
11.	王熙, 杨洋, 张希妮, 等. 不同运动鞋舒适性差异及对篮球典型动作足部受力特征影响. 医用生物力学, 2018, 33(2): 142-149.
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13.	吕长征, 赵俭辉. 鞋类舒适度研究方法总结. 皮革科学与工程, 2010, 20(4): 75-78.
14.	张建军, 李天宇, 王晓慧, 等. 一种辅助负重下肢外骨骼: 中国, ZL105798893B. 2017-9-12.
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16.	李小宁, 王诚. 采用粘滞阻尼器的框架结构消能减震设计. 建筑结构, 2019, 49(S1): 458-460.
17.	吴晓光, 王挺进, 韦磊, 等. 基于矢状面质心角动量的人类行走步态周期阶段划分方法. 控制与决策, 2020, 35(1): 91-98.
18.	余建, 曹军义, 王伟, 等. 人体步态复杂度的递归图和递归定量分析研究. 西安交通大学学报, 2017, 51(10): 47-52, 70.
19.	李仕华, 龚文, 李富娟, 等. 新型 3-RPC 柔性精密平台的刚度与动力学分析. 中国机械工程, 2013, 24(17): 2317-2323.
20.	李怀春. 仪器与安装支架间的合理设计二自由度有阻尼系统的振动的隔离. 航天控制, 1986(4): 52-62, 64.
21.	雷风. 香萱品牌量身定制:让鞋的舒适度与时尚感并存. 西部皮革, 2011, 33(5): 22-24.
22.	李玲, 弓太生, 魏全娥. 皮鞋的选购与质量鉴别及其保养. 西部皮革, 2012, 34(9): 38-43.
23.	尹志新, 李端芳, 唐萌, 等. 基于 MATLAB 的时域路面不平度仿真研究. 装备制造技术, 2010(4): 43-44, 51.
24.	陈杰平, 陈无畏, 祝辉, 等. 基于 Matlab/Simulink 的随机路面建模与不平度仿真. 农业机械学报, 2010, 41(3): 11-15.
25.	彭佳, 何杰, 李旭宏, 等. 路面不平度随机激励时域模型的仿真比较与评价. 解放军理工大学学报:自然科学版, 2009, 10(1): 77-82.
26.	余志生. 汽车理论. 北京: 机械工业出版社, 1990: 206-210.
27.	朱大昌. 基于并联支撑机构的车载雷达天线自动调平系统研究. 北京: 北京交通大学, 2008.
28.	潘双夏, 陈助碧, 冯培恩. M-File S-函数在时域路面不平度建模中的应用. 中国工程机械学报, 2006(4): 379-384.

1. Yan Tingfang, Cempini M, Oddo C M, et al. Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Robotics and Autonomous Systems, 2015, 64: 120-136.
2. Weber L M, Stein J. The use of robots in stroke rehabilitation: a narrative review. NeuroRehabilitation, 2018, 43(1): 99-110.
3. 王秋惠, 魏玉坤, 刘力蒙. 康复机器人研究与应用进展. 包装工程, 2018, 39(18): 83-89.
4. 张良伟. 下肢外骨骼机器人智能鞋设计及其应用. 成都: 电子科技大学, 2016.
5. Wang L, Wang S, Asseldonk V, et al. Actively controlled lateral gait assistance in a lower limb exoskeleton//2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo: IEEE, 2013: 965-970.
6. Francesca S L, Valentina L S, Andrea D, et al. EMG patterns during assisted walking in the exoskeleton. Front Hum Neurosci, 2014, 8(423): 1-12.
7. Kwa H K, Noorden J H, Missel M, et al. Development of the IHMC mobility assist exoskeleton//International Conference on Robotics and Automation, Kobe: IEEE, 2009: 2556-2562.
8. Neuhaus P D, Noorden J H, Craig T J, et al. Design and evaluation of Mina: a robotic orthosis for paraplegics//2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich: IEEE, 2011: 12173030.
9. 归丽华, 杨智勇, 顾文锦, 等. 能量辅助骨骼服 NAEIES 的开发. 海军航空工程学院学报, 2007, 22(4): 467-470.
10. 陈辉. 下肢助力外骨骼生物-机械系统仿真及驱动单元设计. 哈尔滨: 哈尔滨工业大学, 2013.
11. 王熙, 杨洋, 张希妮, 等. 不同运动鞋舒适性差异及对篮球典型动作足部受力特征影响. 医用生物力学, 2018, 33(2): 142-149.
12. 中华人民共和国国家质量监督检验检疫总局, GB/T13441.1-2007/ISO22631-1: 1997机械振动与冲击-人体暴露于全身振动的评价. 北京: 中国标准出版社, 2007.
13. 吕长征, 赵俭辉. 鞋类舒适度研究方法总结. 皮革科学与工程, 2010, 20(4): 75-78.
14. 张建军, 李天宇, 王晓慧, 等. 一种辅助负重下肢外骨骼: 中国, ZL105798893B. 2017-9-12.
15. 刘丽. 鞋底减振结构对足部减振系统影响的研究. 西安: 陕西科技大学, 2015.
16. 李小宁, 王诚. 采用粘滞阻尼器的框架结构消能减震设计. 建筑结构, 2019, 49(S1): 458-460.
17. 吴晓光, 王挺进, 韦磊, 等. 基于矢状面质心角动量的人类行走步态周期阶段划分方法. 控制与决策, 2020, 35(1): 91-98.
18. 余建, 曹军义, 王伟, 等. 人体步态复杂度的递归图和递归定量分析研究. 西安交通大学学报, 2017, 51(10): 47-52, 70.
19. 李仕华, 龚文, 李富娟, 等. 新型 3-RPC 柔性精密平台的刚度与动力学分析. 中国机械工程, 2013, 24(17): 2317-2323.
20. 李怀春. 仪器与安装支架间的合理设计二自由度有阻尼系统的振动的隔离. 航天控制, 1986(4): 52-62, 64.
21. 雷风. 香萱品牌量身定制:让鞋的舒适度与时尚感并存. 西部皮革, 2011, 33(5): 22-24.
22. 李玲, 弓太生, 魏全娥. 皮鞋的选购与质量鉴别及其保养. 西部皮革, 2012, 34(9): 38-43.
23. 尹志新, 李端芳, 唐萌, 等. 基于 MATLAB 的时域路面不平度仿真研究. 装备制造技术, 2010(4): 43-44, 51.
24. 陈杰平, 陈无畏, 祝辉, 等. 基于 Matlab/Simulink 的随机路面建模与不平度仿真. 农业机械学报, 2010, 41(3): 11-15.
25. 彭佳, 何杰, 李旭宏, 等. 路面不平度随机激励时域模型的仿真比较与评价. 解放军理工大学学报:自然科学版, 2009, 10(1): 77-82.
26. 余志生. 汽车理论. 北京: 机械工业出版社, 1990: 206-210.
27. 朱大昌. 基于并联支撑机构的车载雷达天线自动调平系统研究. 北京: 北京交通大学, 2008.
28. 潘双夏, 陈助碧, 冯培恩. M-File S-函数在时域路面不平度建模中的应用. 中国工程机械学报, 2006(4): 379-384.

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