基于弹性装置驱动的外骨骼助行效能评价

目前，被动式助行外骨骼的能量转化效率较低。基于人体步态特征及人在行走过程中产生的重力势能和动能，分析了外骨骼的助力原理，并采用多级能量锁止机构设计了一款下肢被动式外骨骼。建立了外骨骼的动力学仿真模型，以体重和行走速度为变量，对外骨骼储能性能进行了仿真分析。以肌电信号为依据对外骨骼的助力性能进行了研究，对比了在穿戴/未穿戴外骨骼时下肢各肌肉肌电信号的时域曲线及积分值。结果表明，多级能量锁止机构可以提高外骨骼的储能效率，外骨骼对不同体重和不同行走速度具有优良的自适应性，且存储能量与体重、行走速度均成正相关关系。该外骨骼在不同的行走状态下均具有良好的助力作用。

Evaluation of walking aid effectiveness of exoskeleton driven by elastic device

At present, the energy conversion efficiency of passive walking aid exoskeleton is relatively low. Based on the gait characteristic of human body and the gravitational potential energy and kinetic energy generated during walking, the power assisted principle of exoskeleton was analyzed, and a lower limb passive exoskeleton was designed using multi-level energy locking mechanism. Dynamic simulation model of exoskeleton was established, and the energy storage performance of exoskeleton was simulated and analyzed with weight and walking speed as variables. Based on EMG (electromyography) signals, the assistance performance of exoskeleton was studied, and the time-domain curves and integral values of EMG signals of lower limb muscles with and without exoskeleton were compared. The results showed that the multi-level energy locking mechanism could improve the energy storage efficiency of the exoskeleton. The exoskeleton had excellent adaptability to different weight and walking speed, while the stored energy was positively correlated with both weight and speed. The exoskeleton has good boosting effect under different walking states.