下肢外骨骼研究进展及关节运动学解算综述

随着传感融合、移动计算、智能驱动等技术的发展以及研究者对人体运动中下肢重要生物力学功能认知的逐步深化，下肢外骨骼机器人作为一种与下肢并联，能为穿戴者行走助力的可穿戴智能设备愈发受到世界各研究机构的重视。本文根据下肢外骨骼的用途和结构详细综述了近年下肢外骨骼的研究进展，并借此对下肢外骨骼的未来发展进行展望。并针对下肢外骨骼在实时运动学检测与控制上对小型传感器的迫切需求，提出一种能够用于控制下肢外骨骼的基于惯性测量单元的人体下肢关节运动学测量与解算技术，在基于惯性测量的单自由度关节角度结算上得到较好结果。

Research progress of lower-limb exoskeleton and joint kinematics calculation

With the development of sensor fusion, mobile computing, and intelligent actuation, as well as the in-depth understanding of the biomechanics, lower-limb exoskeleton, which is an assistive, wearable intelligent device that operates parallel to human legs, has become the key research area of many research institutes around the world. In this paper, recent research progresses in lower-limb exoskeleton are reviewed in detail. In addition, an inertial measurement unit (IMU)-based human lower-limb kinematics calculation method is proposed to meet the need of small sensors in real-time kinematics calculation and control for lower-limb exoskeleton. The calculation of IMU-based single-degree-of-freedom joint angle achieves better result.