文章摘要

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Title:: Joint motion trajectory analysis and gait experiment research of a lower limb exoskeleton rehabilitation robot

作者:: 魏强生1; 王殊轶1△; 肖建如2; 3; 许炜2; 3; 邢文琪1; 1.上海理工大学医疗器械与食品学院，上海 200093；2.上海市长征医院，上海 200003；3.中国人民解放军全军骨科研究所，上海 200003

Author(s):: WEI Qiangsheng1; WANG Shuyi1; XIAO Jianru2; 3; XU Wei2; 3; XING Wenqi1; 1.School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; 2.Shanghai Changzheng Hospital, Shanghai 200003; 3.Institute of Orthopedics of PLA, Shanghai 200003

Keywords:: Exoskeleton rehabilitation robot; Kinematics; Dynamics; Adams simulation; Gait arrangement; Motion capture; Gait experiment

摘要:: 本研究针对一款下肢外骨骼康复机器人（lower limb exoskeleton rehabilitation robot,LLERR）进行了关节运动轨迹分析与步态测试研究。分别通过D-H法和拉格朗日法对外骨骼机器人单侧下肢进行运动学和动力学建模分析，得出各运动关节间运动学与动力学关系。通过虚拟样机仿真验证提出的外骨骼机器人模型理论分析的正确性，分析了误差来源。通过使用人体模型进行样机穿戴测试，对预设步态过程中外骨骼机器人的位置和速度进行跟踪，验证了行走过程中步态相位的稳定性。招募受试者在光学运动捕捉环境下进行样机穿戴步态测试，结果表明外骨骼机器人带动人体下肢进行规划步态行走达到预期效果。测试结果从主、客观角度验证了下肢外骨骼康复机器人的稳定性和有效性。

Abstract:: We studied the joint motion trajectory analysis and gait experiment research of a lower limb exoskeleton rehabilitation robot (LLERR). Kinematics and dynamics modeling and analysis of unilateral lower limb of LLERR were carried out by D-H method and Lagrange method respectively, the kinematics and dynamics relationship among the moving joints was obtained. The correctness of the theoretical analysis of the proposed exoskeleton robot model was verified by virtual prototype simulation, and the source of error was analyzed. A human body model was used to perform a prototype wearing test, the position and velocity of the exoskeleton robot during the gait experiment process were tracked, and the stability of the gait phase during walking was verified. By recruiting subjects to perform a prototype weared gait test in an optical motion capture environment, the results showed that the exoskeleton robot driving the lower limbs of human body in planned gait walking had achieved the desired effect. The test verifies the stability and effectiveness of the lower limb exoskeleton rehabilitation robot from a subjective and objective perspective.