Coordination Design of a Power-Assisted Ankle Exoskeleton Robot Based on Active-Passive Combined Drive

作     者：HE Guisong HUANG Xuegong LI Feng 贺贵松;黄学功;李峰

作者机构：School of Mechanical EngineeringNanjing University of Science and TechnologyNanjing219904China 

基　　金：the National Natural Science Foundation of China(No.52075264) 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报(英文版))

年 卷 期：2025年第30卷第1期

页      码：197-208页

摘      要：With the continuous escalation of modern war,soldiers need to transport more combat materials to the combat *** limited load-bearing capacity of soldiers seriously restricts their carrying capacity and *** is urgent to develop a power-assisted exoskeleton robot suitable for individual *** the past,most power-assisted exoskeleton robots were driven by *** driving method has an excellent power-assisted effect,but the endurance is often *** view of this shortcoming,this study designed an ankle exoskeleton robot based on an active-passive combined drive through simulation analysis of human *** used OpenSim software to simulate and verify that the addition of spring could achieve a good *** the same time,according to the gait characteristics of the human body,the gait planning of an exoskeleton robot was carried ***,theoretical analysis explained that the cooperation among spring,motor and wearer could be realized in this ***,the assisting ability and driving coordination of the active-passive combination driven ankle exoskeleton robot were verified through experiments.

主 题 词：power assistance ankle joint active-passive combination combined drive gait planning 

学科分类：0831[工学-公安技术类] 080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 0836[0836] 

核心收录：

D　O　I：10.1007/s12204-023-2589-8

馆 藏 号：203121182...