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

Abstract

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

CLC Number:

TP242

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

Design and analysis of a multi-degree-of-freedom size-adjustable lower limb exoskeleton robot

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