自适应膝关节轴向支撑外骨骼构型设计

doi:10.3901/JME.260722

摘要/Abstract

摘要： 针对膝骨关节炎的机械成因，提出一种基于可穿戴外骨骼的膝关节轴向支撑方法，以减轻因负载过度引起的软骨磨损，进而实现保守治疗目的。围绕膝关节卸荷需求，首先提出轴向支撑型膝关节卸荷外骨骼设计概念；结合膝骨关节运动学特征，建立了膝关节等效机构模型及其运动学模型。为解决人-外骨骼运动不匹配问题，提出一种基于运动旋量线性相关性的外骨骼构型综合方法，设计出一系列能够自适应膝关节运动并提供轴向支撑的外骨骼构型。以RRR与RPR两种典型机构为例，推导并仿真验证人-外骨骼所构成闭环机构的运动学、雅可比矩阵及静力学模型，进一步分析上述机构在膝关节运动学适配性与力学辅助方面的机制。提出相应机构的等价替换方法及示例，以拓展该类机构在不同应用场景下的适用范围。最后，通过无源外骨骼与有源外骨骼样机实验案例，进一步验证了所提出的外骨骼构型在实际穿戴中的有效性。

关键词: 自适应, 轴向支撑, 膝关节外骨骼, 构型设计

Abstract: Focusing on the mechanical etiology of knee osteoarthritis, a knee joint axial support method based on a wearable exoskeleton is proposed to alleviate cartilage wear caused by excessive loading, thereby achieving conservative treatment goals. Addressing the requirement for knee joint offloading, the design concept of an axial-supporting knee joint offloading exoskeleton is first introduced. Based on the kinematic characteristics of the knee joint, an equivalent mechanism model and its kinematic model are established. To resolve the issue of human-exoskeleton kinematic mismatches, a method for exoskeleton configuration synthesis based on the linear correlation of kinematic screws is proposed, resulting in a series of exoskeleton configurations capable of adapting to knee joint motion while providing axial support. Taking two typical mechanisms, RRR and RPR, as examples, the kinematics, Jacobian matrix, and statics model of the closed-loop mechanism formed by the human and exoskeleton are derived and validated through simulation. The mechanisms of kinematic adaptability and mechanical assistance of the afore mentioned mechanisms are further analyzed. Equivalent substitution methods and examples are proposed for the corresponding mechanisms to extend their applicability across different scenarios. Finally, the effectiveness of the proposed exoskeleton configuration in actual wearability is further validated through prototype experiments involving both passive and active exoskeletons.

Key words: adaptive, axial support, knee exoskeleton, configuration design

中图分类号:

TH112

郭玉, 张庆东, 董晋安, 刘建鑫, 陈子明. 自适应膝关节轴向支撑外骨骼构型设计[J]. 机械工程学报, 2026, 62(15): 350-365.

GUO Yu, ZHANG Qingdong, DONG Jinan, LIU Jianxin, CHEN Ziming. Configuration Design of an Adaptive Knee Exoskeleton with Axial Support[J]. Journal of Mechanical Engineering, 2026, 62(15): 350-365.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260722

http://www.cjmenet.com.cn/CN/Y2026/V62/I15/350

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