基于OpenSim的腰椎外骨骼助力有效性验证

Verification of Lumbar Exoskeleton Assistance Effectiveness Based on OpenSim

摘要: 腰背部疼痛患者可以通过腰椎外骨骼进行训练和康复治疗，本文在腰椎外骨骼结构设计的基础上，建立人体与外骨骼的组合模型。自定义腰椎运动轨迹并计算推杆推力，通过OpenSim对人体在穿戴和未穿戴腰椎助力外骨骼两种情况下不同运动状态进行仿真，探究外骨骼对不同运动状态下腰部肌肉力和肌肉激活程度的影响。仿真得出，人体穿戴腰椎康复动力外骨骼之后，在屈伸、侧屈、旋转过程中肌力和肌肉激活程度均有所下降，其中腹部肌群在腰椎活动中发挥重要作用，肌肉激活程度与相应的肌肉力变化曲线呈现一致的趋势。该仿真能够准确测量外骨骼对腰部肌肉力和肌肉激活程度的影响，确定助力效果；为外骨骼优化设计和参数调整提供了理论基础和科学依据。

Abstract: Patients with lower back pain can engage in training and rehabilitation therapy using lumbar exoskeletons. This article builds a combined model of the human body and the exoskeleton based on the structural design of the lumbar exoskeleton. It involves customizing lumbar motion trajectories and calculating the thrust of push rods. By using OpenSim, simulations are conducted for the human body in both scenarios: wearing and not wearing the lumbar assistive exoskeleton during different motion states. The study explores the effects of the exoskeleton on lumbar muscle forces and muscle activation levels during different movements. The simulations show that after wearing the lumbar rehabilitation exoskeleton, there is a decrease in muscle strength and muscle activation levels during flexion, extension, lateral bending, and rotation. The abdominal muscle group plays a significant role in lumbar activities, with muscle activation levels showing consistent trends with corresponding muscle force curves. This simulation accurately measures the impact of the exoskeleton on lumbar muscle strength and activation levels, confirming the effectiveness of the assistance. It provides a theoretical basis and scientific rationale for optimizing the design and parameter adjustments of exoskeletons.