液压式人体行走能量回收装置设计与回收效果分析

Considerable energy is generated by foot during human walking. Harvesting such energy is expected to solve the problem of energy supply for wearable electronic devices and even exoskeleton effectively. An energy recovery device is designed to achieve energy conversion into hydraulic power for the drive system of exoskeleton. In order to cover the shortage of the previous research without consideration of human walking dynamics, a 3 DOF dynamic model is established based on the gait analysis to formulate the single leg walking motion. The relationships between foot-ground interactions and time as well as foot attitude in a gait cycle are studied taking the adult as a reference. The forces acting on the ground by foot during walking and their vertical and horizontal components are obtained. The angle between the ground reaction force and the walking direction of pedestrian is measured by simulation. Given the energy distribution during walking, the recovery and storage device is proposed to convert the work done by foot into hydraulic oil energy by collecting the power induced by vertically applied foot force. It is estimated by computation that the hydraulic power of about 20 W can be captured from single foot averagely during human walking without load.