多自由度尺寸可调下肢外骨骼机器人的设计与分析

doi:10.13229/j.cnki.jdxbgxb.20231444

摘要/Abstract

摘要：

针对当前下肢外骨骼结构冗余及人机匹配性差的问题，设计了一种多自由度尺寸可调的下肢助力外骨骼机器人，并在关节处设置了限位装置；采用有限元方法模拟了外骨骼结构在行走过程中的受力、变形、应力和共振情况；利用足底压力传感器系统采集和分析了人体足底的受力及变化规律；采用拉格朗日方程建立了外骨骼关节机械腿的动力学模型，并求解了各关节的受力情况；将实验和求解结果作为关节驱动函数的参数，对外骨骼进行动力学仿真，获得了外骨骼运动的样条数据。所得结果为后续机器人的驱动控制提供了依据，同时验证了下肢助力外骨骼机器人的人机协调性和合理性。

关键词: 下肢外骨骼, 动力学仿真, 足底压力, 结构设计

Abstract:

To address the current problems of structural redundancy and poor human-machine compatibility in lower-limb exoskeletons， a multi-degree-of-freedom， size-adjustable lower-limb power-assist exoskeleton robot was designed with mechanical limit devices installed at each joint. The force， deformation， stress and resonance of the exoskeleton structure during walking were simulated by the finite-element method. A plantar-pressure-sensor system was used to collect and analyze the force distribution and its variation on the human sole. Lagrange’s equations were employed to establish the dynamic model of the exoskeleton leg， and the loads at every joint were solved. The experimental and analytical results were then taken as parameters of the joint drive functions to perform a dynamic simulation of the exoskeleton， yielding spline data of the exoskeleton motion. The obtained results provide a basis for the subsequent drive control of the robot and simultaneously verify the human–machine coordination and rationality of the proposed lower-limb power-assist exoskeleton.

Key words: lower limb exoskeleton, dynamic simulation, foot pressure, structural design

中图分类号:

TP242

丁海涛,刘鹏,王京华,马天赐,许星宇,邓泽珩. 多自由度尺寸可调下肢外骨骼机器人的设计与分析[J]. 吉林大学学报(工学版), 2025, 55(10): 3131-3140.

Hai-tao DING,Peng LIU,Jing-hua WANG,Tian-ci MA,Xing-yu XU,Ze-heng DENG. Design and analysis of a multi-degree-of-freedom size-adjustable lower limb exoskeleton robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(10): 3131-3140.

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机体结构	骨骼比例	可调尺寸/mm	仿真尺寸/mm
髋-膝	0.206H	330~381	360
膝-踝	0.220H	352~407	385
胯	0.190H	304~351	332

关节	自由度	最大范围/（°）	限位保护/（°）
髋关节	伸展/弯曲	140/-45	90/-30
	外展/内收	60/-30	30/-5
	旋内/旋外	50/-50	30/-30
膝关节	伸展/弯曲	0/-150	-5/-120
踝关节	跖屈/背屈	50/-30	25/-35
踝关节	外旋/内旋	20/-40	17/-5

参数	数值	参数	数值
刚度	10 000	静摩擦因数	0.5
力指数	2.2	动摩擦因数	0.5
阻尼	5 000	静平移速度	100
穿透深度	0.1	摩擦平移速度	1 000