北京大学学报（自然科学版）2024，Vol.60Issue(3)：422-430,9.DOI:10.13209/j.0479-8023.2024.032
人体穿戴髋关节助力外骨骼的行走运动学分析
Kinematics Analysis of Human Body Wearing a Hip-Joint-Assisted Exoskeleton
摘要
Abstract
Faced with the problem that existing studies on lower-limb powered exoskeleton lack joint-level kinematics analysis and assistance principle of hip exoskeleton,motion of human body wearing a hip assisted exoskeleton with multiple assist modes was recorded and analyzed.Motion data of human walking without exoskeleton,with transparent,low assistance mode,middle assistance mode,high assistance mode and resistance mode were obtained.Based on inverse kinematics and data processing,joint angles and gait characteristics were obtain.These results are helpful in clarifying the assistance principle of the hip exoskeleton,and may benefit design and motion control of assisted exoskeletons.关键词
下肢助力外骨骼/运动学分析/人体行走运动/步态特征Key words
lower-limb assisted exoskeleton/kinematics analysis/human walking/gait characteristics引用本文复制引用
刘玉,黄岩,周志浩..人体穿戴髋关节助力外骨骼的行走运动学分析[J].北京大学学报（自然科学版）,2024,60(3):422-430,9.基金项目
国家自然科学基金(62073038)和北京理工大学高层次人才研究基金资助 （62073038）
