可穿戴型下肢外骨骼助力机器人设计与研究
Design and Research on a Wearable Power-assisted Robot for Lower Extremity Exoskeleton

为拓展人体下肢关节机能，完成特定环境下的人机协同作业任务，介绍了一种可穿戴型下肢外骨骼助力机器人。在研究人体行走特点和下肢助力需求基础上，实现了外骨骼的机械结构设计与建模计算，针对外骨骼作业特点设计了电液伺服助力系统；通过虚拟样机运动仿真与外骨骼行走实验，匹配了驱动器与外骨骼的运动范围并优化，通过外骨骼辅助人体辅助站立实验验证了外骨骼与人体下肢运动范围匹配性及助力效果等，实验结果表明外骨骼助力机器人设计可行。
To extend the power of the lower limb and complete the human-machine tasks under the specific environment, a wearable assist lower extremity exoskeleton robot is designed and developed in this paper. Firstly, the characteristics of human walking and demanding power of lower limbs are analyzed. Secondly, mechanical design and modelling of the exoskeleton are calculated based on the establishment of virtual prototype and simulation in Adams. Then, the electric-hydraulic servo driving system is designed on account of exoskeleton operations. Finally, ranges of motion and actuators for exoskeleton are investigated and optimized. The proposed indexes, including the matching degree, etc., are verified and which are used for study on relationships between lower limbs and joints of the exoskeleton. Therefore, the experimental results show that the proposed design for the exoskeleton is feasible and effective