欢迎访问《图学学报》 分享到：
图学学报

图学学报 ›› 2020, Vol. 41 ›› Issue (6): 993-1000.DOI: 10.11996/JG.j.2095-302X.2020060993

• 数字化设计与制造 • 上一篇    下一篇

基于运动轨迹图形拟合的辅助人体 侧翻机构设计研究

  

  1. (1. 北京信息科技大学机电工程学院，北京 100192； 2. 国家康复辅具研究中心民政部康复辅具技术与系统重点实验室，北京 100176； 3. 北京航空航天大学生物医学工程高精尖创新中心，北京 100191)
  • 出版日期:2020-12-31 发布日期:2021-01-08
  • 基金资助:
    基金项目：中国博士后科学基金面上项目(2018M641290)；北京市自然科学基金-海淀原始创新联合基金项目(19L2018)；北京市属高校“青年拔尖 人才”培育计划项目(CIT&TCD201704063)；北京市教委科研计划项目(KM202011232009) 

Design of aided mechanism configuration for human body turning-over based on motion trajectory fitting

  1. (1. School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China; 2. Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China; 3. Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100191, China)
  • Online:2020-12-31 Published:2021-01-08
  • Supported by:
    Foundation items：Chinese Postdoctoral Science Foundation (2018M641290); Beijing Natural Science Foundation - Haidian Original Innovation Joint Fund Project (19L2018); Training Plan of Young Top-notch Talent of Beijing Universities (CIT&TCD201704063); Beijing Municipal Education Commission Research Project (KM202011232009) 

PDF (PC)

236

摘要： 摘 要：仰卧位侧翻是长期卧床患者有效预防压力性损伤病症的有效措施之一，研究人体 运动机理并进行辅助人体仰卧位侧翻机构的拟人化设计具有重要意义。人体肩部和臀部是辅助 仰卧位侧翻较为关键的施力位置，基于人体解剖学分析肩部和臀部骨骼的空间运动，建立运动 标记模型，并进行人体仰卧位侧翻运动捕捉实验，得到肩部和臀部的运动轨迹图形与连杆模型 特征信息。通过分析连杆长度和角度的变化过程进行图形几何分析与连杆机构简化，基于运动 轨迹图形拟合的辅助人体侧翻机构构型，并对机构进行运动学仿真分析，运动仿真结果和实验 图形的拟合误差较小，验证了所提出的辅助人体侧翻机构拟人化设计方法的合理性，相关研究 结果可为人-机运动协同性辅助侧翻康复辅具的设计提供理论依据。

关键词: 关 键 词：侧翻, 运动捕捉, 运动轨迹, 图形拟合, 机构构型

Abstract: Abstract: Turning over from supine position is one of effective measures to prevent pressure ulcers for long-term bedridden patients, and it is significant to explore mechanisms of human movement and to personate the design of aided human turnover mechanism. The human shoulders and buttocks are the key force application positions for the aided human turnover. Based on the human anatomy, the spatial motion of the shoulder and buttock bones were analyzed, and the motion marker model was established. In addition, the motion capture experiment of the human supine turnover position was undertaken to obtain figures of the motion trajectory and the feature information of the linkage model of shoulders and buttocks. Through the analysis on the changing progress of the length and angle of the linkage mechanism, the graph geometric analysis and simplification of the linkage mechanism were carried out. Based on the motion trajectory graph fitting, the configuration design of the aided mechanism was completed, with the kinematics simulation implemented. The slight error of simulation and experiment graph fitting proves the rationality of the proposed anthropomorphic aided mechanism method. The results can provide a theoretical basis for the design of the man-machine collaborative rehabilitation mechanism.

Key words: Keywords: turnover, motion capture, motion trajectory, graph fitting, mechanism configuration 

中图分类号: