Abstract: The widely used method of gait planning for the lower-limb walking assist exoskeleton, based on the captured walking trajectories from the able-bodied people, has many disadvantages. A gait modeling method based on the kinematics and dynamics of the lower-limb walking assist exoskeleton is put forward. The motion curves of various time-varying parameters in the model for gait analysis are obtained, which provides theoretical basis for the autonomous gait planning when the walking parameters vary. The problem of parameter adaptability of the trajectory planning can be solved. The experimental results show that, this method aimed at satisfying the specific requirements of the lower-limb walking assist exoskeleton, can obtain the optimized parameters of different configurations, and plan the optimized walking motion of the exoskeleton.

Key words: Lower-limb exoskeleton, walking model, kinematics, dynamics

摘要： 针对当前广泛使用的基于正常人步行轨迹的步态规划方法的诸多缺点，全面介绍了下肢辅助步行外骨骼机器人基于运动学和动力学的步态建模方法，得到了模型中各种时变参数对于步态分析的运动曲线，为特异性步态参数下的自主规划问题提供了理论依据，解决了下肢辅助步行外骨骼机器人轨迹规划的参数适应性问题。实验表明，该方法针对不同身材人群对于下肢辅助步行外骨骼机器人的特异性需求，能够获取当前构型下的最优化参数，规划出最优的下肢辅助步行外骨骼机器人的步行运动。

关键词: 下肢外骨骼, 步行模型, 运动学, 动力学