CAJ | 학술논문

传统的下肢外骨骼机构设计一般基于人机关节对应、杆长一致的设计理念，但是从机构学角度来看，这是一种过约束的人机闭链机构，存在人机运动干涉的弊端。本文探索了人机相容的下肢外骨骼机构的设计方法。基于人体下肢关节运动学特性建立下肢运动学刚体模型，使用Hunt多环空间机构自由度公式设计下肢康复外骨骼机构自由度配置方案。根据自由度配置方案进行下肢外骨骼机构构型与综合，获得9种人机相容的下肢外骨骼机构自由度配置方案，选出最优方案，最终构型出优化的下肢康复外骨骼机构。
전통적하지외골격궤구설계일반기우인궤관절대응、간장일치적설계이념，단시종궤구학각도래간，저시일충과약속적인궤폐련궤구，존재인궤운동간섭적폐단。본문탐색료인궤상용적하지외골격궤구적설계방법。기우인체하지관절운동학특성건립하지운동학강체모형，사용Hunt다배공간궤구자유도공식설계하지강복외골격궤구자유도배치방안。근거자유도배치방안진행하지외골격궤구구형여종합，획득9충인궤상용적하지외골격궤구자유도배치방안，선출최우방안，최종구형출우화적하지강복외골격궤구。
Traditional lower extremity exoskeleton designers hold the view that exoskeletons should have joints corresponding to human anatomical joints and linkages with same length to those of human beings. However, these human-exoskeleton closed-loop mechanisms are over-actuated mechanisms. A new designing method for lower extremity exoskeleton mechanism compliant to human limbs was proposed. Biomechanical model was built base on kinematical characteristics of lower limbs. 9 configurations of degree of freedom (DOF) for lower extremity exoskeleton were presented based on Hunt formula for multi-loop spatial mechanisms. An optimized scheme was established at last.