准被动式变刚度踝关节助力外骨骼设计分析

doi:10.3901/JME.2025.15.196

机械工程学报 ›› 2025, Vol. 61 ›› Issue (15): 196-208.doi: 10.3901/JME.2025.15.196

• 人-机器人协作 • 上一篇

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准被动式变刚度踝关节助力外骨骼设计分析

唐欣尧^1,2, 杨佳音^1,2, 王旭鹏^1,2, 殷榕^1,2, 刘晓宜^1,2

1. 西安理工大学军民融合助力与防护装备设计创新研究中心西安 710048;
2. 西安理工大学工业设计系西安 710048

收稿日期:2024-08-02 修回日期:2024-12-09 发布日期:2025-09-28
作者简介:唐欣尧，女，1995年出生，博士，讲师。主要研究方向为人体运动生物力学分析、可穿戴设备创新设计。E-mail：tangxy@xaut.edu.cn;杨佳音，女，1999年出生，硕士研究生。主要研究方向为人体运动生物力学分析、变刚度踝关节助力外骨骼设计分析。E-mail：2210621011@stu.xaut.edu.cn;王旭鹏(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为机械系统动力学、人体运动生物力学、设计创新与仿真。E-mail：wangxupeng@xaut.edu.cn;殷榕，女，1997年出生，硕士研究生。主要研究方向为膝踝关节助力外骨骼设计分析。E-mail：2210621008@stu.xaut.edu.cn;刘晓宜，女，2000年出生，硕士研究生。主要研究方向为运动生物力学分析、可穿戴智能设备设计。E-mail：2220621035@stu.xaut.edu.cn
基金资助:
西安理工大学校级博士启动金(106-451124018); 教育部青年基金(21XJC760003); 陕西省青年杰出人才支持计划配套基金(106-451420001)资助项目。

Design Analysis of Quasi-passive Variable Stiffness Assisted Exoskeleton with Ankle

TANG Xinyao^1,2, YANG Jiayin^1,2, WANG Xupeng^1,2, YIN Rong^1,2, LIU Xiaoyi^1,2

1. Research Center for Civil-Military Integration and Protection Equipment Design Innovation, Xi'an University of Technology, Xi'an 710048;
2. Department of Industrial Design, Xi'an University of Technology, Xi'an 710048

Received:2024-08-02 Revised:2024-12-09 Published:2025-09-28

摘要/Abstract

摘要： 为了降低人体踝关节跖屈时产生的力矩和减缓小腿肌肉疲劳为目的，设计了一款准被动式变刚度踝关节助力外骨骼，利用足底压力信号控制电磁离合器工作的方式，实现储能单元的能量存储与释放。首先，变刚度机构是通过几何结构来调整助力弹簧的预紧力，使关节输出刚度达到非线性特征，从而减少人体行走时的能量能耗。其次，建立了人体穿戴踝关节外骨骼仿真模型，进行动力学仿真模拟，验证了外骨骼机械结构的合理性及良好的助力效果。最后，搭建了踝关节助力外骨骼功能测试实验平台，对变刚度储能机构进行了性能测试，结果显示穿戴外骨骼助力后胫骨前肌和腓肠肌的肌电信号平均降低了12.29%和39.26%，说明了穿戴外骨骼有效降低了肌肉疲劳，为可穿戴外骨骼的设计提供新的方法。

关键词: 准被动式, 变刚度, 踝关节助力, 外骨骼设计, 降低疲劳

Abstract: In order to reduce the torque generated during plantar flexion of the human ankle and alleviate leg muscle fatigue, a quasi passive variable stiffness ankle assisted exoskeleton is designed. By using plantar pressure signals to control the electromagnetic clutch, energy storage and release of the energy storage unit are achieved. Firstly, the variable stiffness mechanism adjusts the preload force of the assist spring through geometric structure, achieving non-linear joint output stiffness and reducing energy consumption during human walking. Secondly, a simulation model of human ankle exoskeleton wearing is established, and dynamic simulation is conducted to verify the rationality of the exoskeleton mechanical structure and its good assistance effect. Finally, an experimental platform for testing the function of ankle assisted exoskeletons is established, and the performance of the variable stiffness energy storage mechanism is tested. The results showed that the average EMG signals of the tibialis anterior muscle and gastrocnemius muscle decreased by 12.29% and 39.26% after wearing exoskeletons, indicating that wearing exoskeletons effectively reduces muscle fatigue and provides a new method for the design of wearable exoskeletons.

Key words: quasi-passive, variable stiffness, ankle assistance, exoskeleton design, reduce fatigue

中图分类号:

TG156

唐欣尧, 杨佳音, 王旭鹏, 殷榕, 刘晓宜. 准被动式变刚度踝关节助力外骨骼设计分析[J]. 机械工程学报, 2025, 61(15): 196-208.

TANG Xinyao, YANG Jiayin, WANG Xupeng, YIN Rong, LIU Xiaoyi. Design Analysis of Quasi-passive Variable Stiffness Assisted Exoskeleton with Ankle[J]. Journal of Mechanical Engineering, 2025, 61(15): 196-208.

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准被动式变刚度踝关节助力外骨骼设计分析

Design Analysis of Quasi-passive Variable Stiffness Assisted Exoskeleton with Ankle

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