机电工程技术2026，Vol.55Issue(10)：52-59,8.DOI:10.3969/j.issn.1009-9492.2026.10.008
坐行功能下肢外骨骼设计与侧向稳定性仿真
Design of a Sitting-walking Function Lower Limb Exoskeleton and Simulation of Lateral Stability
解伟放 1王晓伟 1郝育东 1穆俊泽1
作者信息
- 1. 山东建筑大学 机电工程学院,济南 250101
- 折叠
摘要
Abstract
Most users of lower limb exoskeletons have limited mobility in their lower limbs and need to sit down and rest frequently.Based on this,to facilitate users in sitting down at any time and improve the lateral stability of the lower limb exoskeleton,a lower limb exoskeleton integrating both walking and sitting functions and equipped with a lateral stabilization structure is designed.SolidWorks is used to structurally model the exoskeleton's hip,knee,and ankle joints,leg rods,feet,as well as the sitting/leaning and lateral support components,enabling seamless switching between walking assistance and sitting functions.Ansys Workbench is employed to simulate the lateral stability of the exoskeleton in the coronal plane.Comparative lateral stability simulation experiments are conducted on the exoskeleton with and without the lateral support structure.The simulation results show that after installing the lateral stabilization structure,the maximum lateral tilt angle at which the exoskeleton remains stable under gravity alone increased by 1.9° compared to the version without the structure.Additionally,the maximum lateral force the exoskeleton could withstand while maintaining stability increased by 18.4 N,demonstrating a significant improvement in lateral stability.关键词
下肢外骨骼/坐行功能/侧向稳定性/显式动力学Key words
lower limb exoskeleton/sitting-walking function/lateral stability/explicit dynamics分类
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解伟放,王晓伟,郝育东,穆俊泽..坐行功能下肢外骨骼设计与侧向稳定性仿真[J].机电工程技术,2026,55(10):52-59,8.
