现代信息科技2026，Vol.10Issue(5)：150-155,6.DOI:10.19850/j.cnki.2096-4706.2026.05.028
基于惯性动作捕捉的下肢外骨骼步态生成与仿真验证
Gait Generation and Simulation Verification of Lower Limb Exoskeleton Based on Inertial Motion Capture
摘要
Abstract
Aiming at the problems of poor adaptability and insufficient human-machine coordination in traditional gait generation methods for lower limb exoskeletons,this paper proposes a data-driven method based on inertial motion capture and multi-body dynamics simulation.The gait data of healthy individuals and patients are collected by the Noitom system.The joint angle trajectories are generated by using spline curve fitting,and a dynamic adaptation algorithm is designed to achieve real-time adjustment of gait planning.A human-machine joint simulation model is constructed in ADAMS,and the CUBSPL spline is used to drive joint movement for systematic kinematic and dynamic analysis.The results show that the generated exoskeleton gait is highly consistent with the natural gait in terms of joint angle,displacement,velocity,and torque,which verifies the effectiveness of the method.This study provides a complete technical path for personalized gait planning and rapid verification of lower limb exoskeletons,and has reference value for improving the adaptability and safety of rehabilitation training.关键词
下肢外骨骼/惯性动作捕捉/步态生成/ADAMS仿真/数据驱动Key words
lower limb exoskeleton/inertial motion capture/gait generation/ADAMS simulation/data-driven分类
信息技术与安全科学引用本文复制引用
张宇轩,陆丰..基于惯性动作捕捉的下肢外骨骼步态生成与仿真验证[J].现代信息科技,2026,10(5):150-155,6.基金项目
贵州大学开放性实验基金(YSKF2024-81) （YSKF2024-81）
