膝踝关节外骨骼人机匹配性设计与优化

doi:10.3969/j.issn.1004-132X.2025.10.026

摘要/Abstract

摘要：

针对现有外骨骼与人体腿部协调性差的问题，设计了一种基于人机匹配性的膝踝关节外骨骼。通过动作捕捉系统采集下肢关节运动的时空数据，结合生理膝关节滚滑运动特性，设计了能够适应人体膝关节运动瞬心的J字形运动轨迹的四杆机构，提出了模拟膝关节运动的连杆机构优化设计方法。数值模拟验证了优化后四杆机构能够很好地贴合人体运动，结合角度传感器实现了助力外骨骼控制系统的开发，进而借助步态和肌电实验对助力外骨骼性能有效性进行了验证。实验结果表明，穿戴后膝关节角度峰值变化幅度小于5%，膝关节力矩减小，股外侧肌、腓肠肌、股二头长头肌等肌肉活动度下降。

关键词: 膝踝关节, 膝关节瞬心, 助力外骨骼, 人机耦合仿真分析, 实验验证

Abstract:

To address the challenges of poor compatibility in current exoskeletons and human legs， a knee-ankle exoskeleton was designed based on human-machine compatibility. The spatiotemporal data of lower limb joint movements were collected through a motion capture system. A four-bar mechanism with a J-shaped motion trajectory that might adapt to the instantaneous center of human knee joint movement was designed based on the physiological characteristics of knee joint rolling and sliding motions. A linkage mechanism optimization design method for simulating knee joint motions was proposed. The optimized four-bar mechanism was validated through numerical simulation to fit human motion well. The development of an power-assisted exoskeleton control system was achieved by combining angle sensors， and the effectiveness of the power-assisted exoskeleton performance was verified through gait and electromyography experiments. The experimental results show that the peak change in knee joint angle after wearing is less than 5%， the knee joint torque decreases， and the activity of muscles such as the lateral thigh muscle， gastrocnemius muscle， and biceps longus muscle decreases.

Key words: knee and ankle joint, knee transient, power-assisted exoskeleton, human-machine coupling simulation analysis, experimental validation

中图分类号:

TP242

唐欣尧, 殷榕, 王旭鹏, 杨佳音, 刘晓宜, 郝雨阳. 膝踝关节外骨骼人机匹配性设计与优化[J]. 中国机械工程, 2025, 36(10): 2369-2378.

Xinyao TANG, Rong YIN, Xupeng WANG, Jiayin YANG, Xiaoyi LIU, Yuyang HAO. Design and Optimization of Human-machine Compatibility of Knee-ankle Exoskeletons[J]. China Mechanical Engineering, 2025, 36(10): 2369-2378.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.10.026

https://www.cmemo.org.cn/CN/Y2025/V36/I10/2369

图/表 30

图1 下肢逆动力学模型

Fig.1 Lower limb dynamics model

图2 膝和踝关节的角度变化

Fig.2 Changes in knee and ankle angles

图3 膝关节瞬心轨迹

Fig.3 Instantaneous trajectory of knee

图4 膝关节四杆运动学模型

Fig.4 Four-bar kinematic model of knee

图5 膝关节理论瞬心轨迹与拟合轨迹

Fig.5 Theoretical instantaneous and fitting trajectory of knee

表1 四杆优化尺寸

Tab.1 Optimized dimensions of four-bar linkage

$l 1$ /mm	$l 2$ /mm	$l 3$ /mm	$l 4$ /mm	$θ 1$ /（°）	$θ 3$ /（°）
33.45	38.30	51.74	41.00	59.82	25.63

表1 四杆优化尺寸

Tab.1 Optimized dimensions of four-bar linkage

$l 1$ /mm	$l 2$ /mm	$l 3$ /mm	$l 4$ /mm	$θ 1$ /（°）	$θ 3$ /（°）
33.45	38.30	51.74	41.00	59.82	25.63

图6 离合器控制电路图

Fig.6 Clutch control circuit diagram

图7 测试离合器闭合状态

Fig.7 Test of the clutch closed state

图8 测试离合器断开状态

Fig.8 Test of the clutch disconnected state

图9 外骨骼助力原理

Fig.9 Principle of exoskeleton assistance

图10 外骨骼整体结构设计

Fig.10 Integral structure design of exoskeleton

图11 储能机构设计

Fig.11 Design of energy storage mechanism

图12 电机离合器与传动机构

Fig.12 Motor clutch and transmission mechanism

图13 四杆机构设计

Fig.13 Design of four-bar linkage mechanism

图14 ADAMS添加约束图

Fig.14 ADAMS added constraint diagram

图15 三种坐标轨迹对比

Fig.15 Comparison of three coordinate trajectories

图16 外骨骼连接副

Fig.16 Exoskeleton connection pair

图17 弹簧力代替压簧组

Fig.17 Spring force replacing compression spring group

图18 人体仿真模型步态周期

Fig.18 Gait cycle of human simulation model

图19 人机耦合仿真模型

Fig.19 Human-machine coupling simulation model

图20 穿戴助力前后膝关节力矩对比

Fig.20 Comparison of knee torque before and after assistance

图21 穿戴外骨骼前后关节角度对比

Fig.21 Comparison of joint angles before and after wearing exoskeleton

图22 Marker点和肌电块位置

Fig.22 Marker and EMG block positions

图23 外骨骼实体模型

Fig.23 Exoskeleton entity model

图24 受试者未穿戴外骨骼状态

Fig.24 Volunteers without wearing exoskeletons

图25 穿戴外骨骼助力实验状态

Fig.25 Experimental state of wearing exoskeleton assistance

图26 穿戴外骨骼前后膝关节和踝关节角度变化

Fig.26 Knee and ankle angles before and after wearing the exoskeleton

图27 穿戴外骨骼前后膝关节力矩变化

Fig.27 Knee moment before and after wearing exoskeleton

图28 穿戴外骨骼前后膝关节功率变化

Fig.28 Knee power before and after wearing exoskeleton

图29 穿戴外骨骼前后肌电信号对比

Fig.29 Comparison of EMG signals before and after wearing exoskeleton

参考文献 21

[1]	陈鹰，杨灿军.人体智能系统理论与方法［M］. 杭州：浙江大学出版社， 2006.
	CHEN Ying， YANG Canjun. Theory and Methods of Human Intelligent Systems［M］. Hangzhou：Zhejiang University Press， 2006.
[2]	LERNER Z F， GASPARRI G M， BAIR M O， et al. An Untethered Ankle Exoskeleton Improves Walking Economy in a Pilot Study of Individuals with Cerebral Palsy［J］. IEEE Transactions on Neural Systems and Rehabilitation Engineering， 2018，26（10）：1985-1993.
[3]	HIDAYAH R， XIN J， CHAMARTHY S， et al. Comparing the Performance of a Cable-driven Active Leg Exoskeleton （C-ALEX） Over-ground and on a Treadmill［C］∥7th IEEE International Conference on Biomedical Robotics and Biomechatronics （Biorob）. Netherland， 2018：299-304.
[4]	KWON J， PARK J H， KU S， et al. A Soft Wearable Robotic Ankle-foot-orthosis for Post-stroke Patients［J］. IEEE Robotics & Automation Letters，2019，4（3）：2547-2552.
[5]	杨业勤.基于柔绳互绞驱动原理的柔性下肢外骨骼机器人研究［D］. 哈尔滨：哈尔滨工业大学， 2021.
	YANG Yeqin. Research on a Lightweight and Portable Lower Limb Exosuit Based on Twisted Strings Actuator［D］. Harbin：Harbin Institute of Technology， 2021.
[6]	刘洋.基于绳-滑轮机构的欠驱动下肢外骨骼研究［D］. 哈尔滨：哈尔滨工业大学，2018.
	LIU Yang. Research on the Cable-pulley Underactuated Lower Limb Exoskeleton［D］. Harbin：Harbin Institute of Technology， 2018.
[7]	陈春杰.基于柔性传动的助力全身外骨骼机器人系统研究［D］. 深圳：中国科学院大学（中国科学院深圳先进技术研究院），2017.
	CHEN Chunjie. Research on Power-assisted Full-body Exoskeleton Robotic System Based on Flexible Drive［D］. Shenzhen：Shenzhen Institutes of Advanced Technology （Chinese Academy of Sciences）， 2017.
[8]	赵新刚，谈晓伟，张弼.柔性下肢外骨骼机器人研究进展及关键技术分析［J］.机器人，2020，42（3）：365-384.
	ZHAO Xingang， TAN Xiaowei， ZHANG Bi. Development of Soft Lower Extremity Exoskeleton and Its Key Technologies：a Survey［J］. Robot，2020，42（3）：365-384.
[9]	曹品.基于气动肌肉的柔性下肢外骨骼设计［D］.西安：西南交通大学， 2021.
	CAO Pin. Design of Flexible Lower Limb Exoskeleton Based on Pneumatic Muscle［D］. Xi'an：Southwest Jiaotong University， 2021.
[10]	NASIRI R， AHMADI A， AHMADABADI M N. Reducing the Energy Cost of Human Running Using an Unpowered Exoskeleton［J］. IEEE Transactions on Neural Systems and Rehabilitation Engineering：a Publication of the IEEE Engineering in Medicine and Biology Society， 2018， 26（10）：2026-2032.
[11]	WILIAN M S， GLAUCO A C， ADRIANO A S. Design and Control of an Active Knee Orthosis Driven by a Rotary Series Elastic Actuator［J］. Control Engineering Practice，2017，58：37-38.
[12]	陈朝峰，杜志江，张慧，等.基于柔性驱动关节的下肢外骨骼双模态切换控制［J］.机器人，2021，43（5）：513-525.
	CHEN Chaofeng， DU Zhijiang， ZHANG Hui， et al. Double-mode Switching Control of a Lower Limb Exoskeleton Based on Flexible Drive Joint［J］. Robot， 2021，43（5）：513-525.
[13]	FUGE A， HERRON C， BEITER B， et al. Design， Development， and Analysis of the Lower Body of Next-generation 3D-printed Humanoid Research Platform：PANDORA［J］. Robotica 2023， 41：2177-2206.
[14]	SUN Z， LI Y， ZI B， et al. Design， Modeling， and Evaluation of a Hybrid Driven Knee-ankle Orthosis with Shape Memory Alloy Actuators［J］. Journal of Mechanical Design，2023，145（6）：063301.
[15]	HAO Z X， LENG H J， QU C Y， et al. Biomechanics of the Bone and the Joint［J］. Chinese Journal of Solid Mechanics， 2010， 31（6）：603-612.
[16]	CHAICHAOWARAT R， KINUGAWA J， KOSUGE K. Unpowered Knee Exoskeleton Reduces Quadriceps Activity during Cycling［J］. Engineering，2018，4（4），471-478.
[17]	WANG D， LEE K M， GUO J J， et al. Adaptive Knee Joint Exoskeleton Based on Biological Geometries［J］. IEEE/ASME Trans. Mechatron，2014， 19（4）：1268-1278.
[18]	WOLF A. Instantaneous Screws of Weight-bearing Knee：What Can the Screws Tell Us about the Knee Motion［J］. Journal of Biomechanical Engineering， 2014， 136（7）：433-440.
[19]	CHEN J T， YANG L F， WANG Y X， et al. The New Simulated Knee Prosthesis of Discontinuity Instantaneous Center Curve［J］. Machinery Design & Manufacture，2014，281：183-185.
[20]	CHOI B， LEE Y， KIM J， et al. A Self-aligning Knee Joint for Walking Assistance Devices［C］∥ In Proceedings of the 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society （EMBC）. Orlando， FL， 2016：2222-2227.
[21]	ZHANG L， LIU G， HAN B，et al. Assistive Devices of Human Knee Joint：a Review［J］. Robotics and Autonomous Systems， 2020， 125：103394.