Alt ekstremite dış iskeletinin modellenmesi ve biyomekanik analizi

Year 2024, Volume: 39 Issue: 1, 549 - 562, 21.08.2023

İsmail Çalıkuşu , Esma Uzunhisarcıklı , Ugur Fidan

https://doi.org/10.17341/gazimmfd.1146318

Abstract

Dış iskeletler, çeşitli nedenlerle uzuvlarını kaybeden kişilerin kas rehabilitasyonu ve/veya sosyal hayata adaptasyonu için geliştirilmiş cihazlardır Bu çalışmada, Solidworks programı kullanılarak A Glass Fiber malzemeden yapılmış bir alt ekstremite dış iskeleti tasarlanmıştır. AnyBody programında tasarım modeli kas-iskelet sistemi üzerine bindirilerek iki yürüyüş döngüsü boyunca biyomekanik analizler yapılmıştır. Bu biyomekanik analizler sonucunda kas aktiviteleri, kas kuvveti, eklem momenti ve reaksiyon kuvveti verileri elde edilmiştir. Veriler, dış iskeletli ve dış iskeletsiz olmak üzere iki farklı yürüme yapan model üzerinde toplanmış ve analiz edilmiştir. Tasarımda kullanılan A Glass Fiber malzemenin dış iskeletin ağırlığını motor ağırlığı dahil yaklaşık 8-9 kg'a kadar düşürdüğü gözlemlenmiştir. Ayrıca dış iskelet tasarımının, literatürde tasarlanan benzer dış iskeletlere göre kaslar ve eklemler üzerindeki kuvveti daha fazla azalttığı görülmüştür. Ayrıca simülasyon sonuçları, dış iskeletin femur ve tibianın S şeklindeki yapısının insan anatomik daha uygun olduğunu göstermiştir. Ayrıca yürüyüşte gövdeden bacaklara kuvvet aktarımının daha dengeli olduğu gözlemlenmiştir. Son olarak dış iskelet ile yürümenin psoas major kasını daha fazla çalıştırarak kalçanın ön-arka kuvvetini arttırdığı sonucuna varılmıştır.

Keywords

Eklem Reaksiyon Kuvveti, AnyBody, Kas Aktivitesi, Yer Reaksiyon Kuvveti.

Modeling and biomechanical analysis of lower extremity exoskeleton

Abstract

Exoskeletons are devices developed for muscle rehabilitation and/or adaptation to the social life of people who lost their limbs for various reasons. In this study, a lower limb exoskeleton made of A Glass Fiber material has been designed by using the Solidworks program. Biomechanical analyses have been carried out during two gait cycles by superimposing the design model on the musculoskeletal system in the AnyBody program. As a result of these biomechanical analyses muscle activities, muscle force, joint moment, and reaction force data have been obtained. Data have been collected and analyzed on two different groups, exoskeleton, and non-exoskeleton. It has been observed that the A Glass Fiber material used in the design reduces the weight of the exoskeleton to approximately 8-9 kg including the engine weight. It has also been seen that the proposed structure reduces the force on muscles and joints more than similar exoskeletons designed in the literature. Moreover the simulation results have represented that the S-shaped structure of the femur and tibia is more suitable for the human body structure. Finally, it has been concluded that walking with an exoskeleton increases the psoas major muscle to work more and this increases the anterior-posterior strength of the hip.

Keywords

Joint Reaction Force, AnyBody, Muscle Activity, Ground Reaction Force.

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