南京理工大学学报（自然科学版）2025，Vol.49Issue(6)：640-651,12.DOI:10.14177/j.cnki.32-1397n.2025.49.06.002
人机运动相容髋关节外骨骼机器人设计与分析
Design and analysis of a human-machine kinematic compatible robotic hip exoskeleton
摘要
Abstract
Current hip exoskeleton robots hinder natural human motion and limit human-robot collaborative movement range.A human-machine kinematic compatible robotic hip exoskeleton is designed to address these issues.The exoskeleton adopts an underactuated serial mechanism at the hip joint,utilizing a revolute-revolute-prismatic-spherical(RRPS)six-degree-of-freedom mechanism as the kinematic chain.Simultaneously,the human-robot coupled kinematic and dynamic models of the hip joint are established to validate joint motion ranges under human-exoskeleton collaborative movement,and the reference active assistive torque is derived.Furthermore,the control technology for the exoskeleton is investigated,including a phased recognition algorithm for human lifting motions and a human-robot collaborative control strategy.Finally,performance evaluation experiments are conducted on the exoskeleton.The experimental results show that the exoskeleton achieves 100%of the natural human motion range,and surface electromyography signals indicate a reduction of 8.4%and 6.14%in lumbar and hip muscle load respectively,confirming its excellent motion compatibility and effective assistive performance.关键词
外骨骼机器人/人机运动相容/分阶段动作识别/人机协同控制Key words
robotic hip exoskeleton/human-machine kinematic compatible/phased motion recognition/human-exoskeleton collaborative control分类
信息技术与安全科学引用本文复制引用
Yang Xiaolong,Zhang Peng,Fang Yixiao,Kang Shengzheng,Wang Yulin..人机运动相容髋关节外骨骼机器人设计与分析[J].南京理工大学学报（自然科学版）,2025,49(6):640-651,12.基金项目
国家自然科学基金(52575124 （）
52105023) （）
江苏省自然科学基金(BK20210341) （BK20210341）
中央高校基本科研业务费专项资金(30923011010) （30923011010）
