广西科技大学学报2025，Vol.36Issue(3)：17-23,7.DOI:10.16375/j.cnki.cn45-1395/t.2025.03.003
设计一种双自由度被动踝关节外骨骼
Designing of a dual-degree-of-freedom passive ankle exoskeleton
摘要
Abstract
This study proposes a passive lower limb exoskeleton for walking assistance,addressing the issues of complexity,operational noise,and overconstraint commonly found in current unpowered exoskeletons that use ratchet pawls as clutches and have single degrees of freedom.The device improves the ratchet pawl clutch by using elastic elements for engagement and disengagement during walking,allowing for undisturbed ankle swing.The exoskeleton possesses two rotational degrees of freedom in the sagittal and coronal planes,enabling inversion and eversion of the ankle.The working principles of the exoskeleton assistance were elaborated in this paper along with walking tests conducted using motion capture and force plate systems to analyze the effects of the exoskeleton on lower limb joint angles and torques.Preliminary findings demonstrate that,within one gait cycle,the exoskeleton has a slight effect on hip and knee joint angles but has a significant impact on ankle joint angles.Wearing the exoskeleton slightly reduces hip and knee joint torques and provides an assisting torque for the ankle joint during the push-off phase of the gait cycle,accounting for at least 25%of the natural ankle torque.Consequently,the required joint torques for walking are reduced,leading to improved gait stability.关键词
被动踝关节外骨骼/动作捕捉/OpenSim/步态Key words
passive ankle exoskeleton/motion capture/OpenSim/gait分类
计算机与自动化引用本文复制引用
朱浩冉,尹辉俊,胡子恬..设计一种双自由度被动踝关节外骨骼[J].广西科技大学学报,2025,36(3):17-23,7.基金项目
广西自然科学基金项目(2013GXNSFAA019319) （2013GXNSFAA019319）
广西科技计划项目(桂科攻1348005-12) （桂科攻1348005-12）
广西科技计划重点研发项目(桂科AB21220052)资助 （桂科AB21220052）
