机械科学与技术2026，Vol.45Issue(1)：57-65,9.DOI:10.13433/j.cnki.1003-8728.20240018
被动式踝关节助力外骨骼机构设计与仿真
Design and Simulation of Passive Ankle Assisted Exoskeleton Mechanism
摘要
Abstract
An ankle-assisted exoskeleton based on the clutch and spring is studied.The exoskeleton is passively designed to store and release energy through the opening and closing of the clutch at different stages of walking in series with the spring,thus realizing the purpose of walking assistance and reducing metabolic consumption.Firstly,the structural design of the ankle-assisted exoskeleton was based on the 3D modeling software SolidWorks.Secondly,the rationality of the mechanism was studied based on the Adam virtual prototype simulation,and the metabolic energy changes of the human body after wearing the ankle-assisted exoskeleton via OpenSim were studied.The experimental results proved that the electromyographic signal of the lower limb muscles decreased when the experimenter wore the ankle-assisted exoskeleton and the ankle joint had a better walking effect.关键词
踝关节/被动式外骨骼/助力行走/OpenSim仿真Key words
ankle joint/passive exoskeleton/assisted walking/openSim simulation分类
信息技术与安全科学引用本文复制引用
仇志宇,朱松青,韩亚丽,金壮壮..被动式踝关节助力外骨骼机构设计与仿真[J].机械科学与技术,2026,45(1):57-65,9.基金项目
国家自然科学基金青年基金项目(51205182)与江苏省研究生科研与实践创新计划(SJCX23-1161) （51205182）
