面向日常出行的助老柔性外骨骼系统设计

老年人肌肉动力不足，造成行走能力降低，日常出行不便。 柔性外骨骼能主动
助力并且具有重量轻、与人体相容性好等优点， 适合辅助老年人行走。 但现有柔性
外骨骼未能实现辅助老年人日常出行，原因包括： 现有柔性外骨骼大多数仅针对平
地行走进行助力， 不适合多行走环境的日常出行； 需要在人体绑缚大量绑带， 穿戴
复杂， 老年人难以接受； 驱动装置重，不适合老年人日常携带等。 如何改进柔性外
骨骼的结构设计，研制出轻便高效的驱动装置， 并设计适合不同行走环境的助力控
制方法， 使柔性外骨骼能够应用于多行走环境的日常出行助力， 是柔性外骨骼领域
亟需解决的问题。
本论文来源于国家自然科学基金项目：辅助老年行走的内穿型柔性助力外骨
骼。 本论文的目标是设计面向老年人日常出行的助力柔性外骨骼系统。 论文主要研
究工作如下：
（1） 设计了一款可助力平地行走、上楼及上坡三种日常行走环境的柔性外骨
骼。 分析了三种日常行走环境下人体下肢生物力学参数， 基于三种日常行走环境下
踝关节功率的相似性， 提出了通过助力踝关节来辅助日常多环境行走的方法。 无论
是平地行走还是上楼、 上坡，踝关节蹬地功在下肢关节总功中占比均较大， 特别是
平地行走及上坡时，其占比达到 40%以上。 由于日常行走环境下平地行走及上坡
出现几率较大， 因此通过助力踝关节来助力日常行走的总收益最高。
（2） 在穿戴结构及驱动装置的设计上进行了改进，使其适合老年人使用。 设
计了与鞋集成的踝关节助力柔性外骨骼穿戴结构。 穿戴部分完全集成在鞋上，无需
在人体上绑缚零部件，降低了穿戴复杂性， 老年人更有可能接受。 设计了轻量化的
便携式柔性外骨骼驱动装置。 利用单个电机的正反转同时助力左、右腿运动，减少
了所需的电机和控制器数量， 驱动装置重量仅为 2.45Kg（不含电源），比已知的其
他踝关节助力柔性外骨骼都更轻。
（3） 使用基于力的位置控制方法，控制柔性外骨骼产生所需辅助功率。 通过
柔性外骨骼的刚度模型可以将柔性外骨骼的目标输出力转换为电机位移， 这样就
能够将复杂的力控制问题转变为简单的电机位移控制。
基于以上研究进行了三种日常行走环境下的助力效果对比实验， 对比 3 种日
常行走环境下柔性外骨骼助力前后小腿肌肉激活度的变化情况。 初步的实验结果
证明了所设计柔性外骨骼能降低三种日常行走环境对踝关节肌肉发力的需求。
 

Due to decrease of muscle power, the elderly lose some walking ability, leading to
inconvenient daily walking. Soft exosuits are suitable for assisting the elderly walking,
because they are light and compatible to human. But for some reasons, soft exosuits are
still unable to facilitate daily walking of the elderly. First, most existing soft exosuits
assist level walking only, incapable of assisting daily walking with multiple walking
environments. Second, previous exosuits add too many straps to human body, which may
not be accepted by the elderly. Third, actuators of previous exosuits are heavy, not suitable
for daily use. In order to adapt the soft exosuit to assist daily walking, it is urgent to
improve the design of exosuit, reduce the weight of actuator and find a control method
capable of assisting different walking environments.
This paper comes from an NSFC: an in-wear exosuit for assisting the elderly walking.
The paper aims to develop a soft exouist for assisting daily walking of the elderly.
The main research work of the paper is as follows:
(1) Analysis of lower limbs biomechanics for multiple walking environments was
performed. Whatever it is level walking, stair walking or slope walking, ankle push-off
work holds a big proportion of COM work, especially during level walking, ankle pushoff work accounts for more than 50% of total COM work. Considering the probability of
level walking is biggest in daily walking, assisting ankle joint will benefit most.
(2) A soft exosuit totally integrated to shoe was designed. The wear parts of proposed
exosuit were completely integrated to shoe, with no other part add to human body, which
may reduce the wearing complexity and increase acceptability of the elderly. A light
portable actuator was designed. The actuator utilized positive and negative rotation of one
motor to actuate bilateral legs, in this way the number of required motor and control
devices is reduced. The weight of actuator is only 2.45Kg, lighter than any other ankle
assistant soft exosuits we known.
(4) A force-based position control was performed to generate required assistant
power. The force-based position control transforms the complicated force control problem
to a simple position control of the motor by the means of exosuit stiff model.
Based on the above researches, experiments in three different walking environments
were performed to compare the assisting effect of proposed exosuit. Preliminary results
demonstrated the effectiveness of proposed exosuit to reduce the requirement of ankle
muscle activations.
 

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