基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划

邓美英; 马张翼; 王英男; 王汉松; 赵一冰; 魏谦笑; 杨巍; 杨灿军

doi:10.1631/FITEE.1800777

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基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划

常规文章 | Updated：2022-05-19

- 基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划
- Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory
- 信息与电子工程前沿（英文） 2019年20卷第10期页码：1322-1330
- Affiliations：
  
  Zhejiang University Hospital, Hangzhou 310027, China
  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  Can-jun YANG, E-mail: ycj@zju.edu.c
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 51805469)
- DOI：10.1631/FITEE.1800777
  中图分类号： TP242
- 收稿：2018-12-13，
  
  修回：2019-10-10，
  
  纸质出版：2019-10
- Accepted：
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邓美英, 马张翼, 王英男, 等. 基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划[J]. 信息与电子工程前沿（英文）, 2019,20(10):1322-1330.

Mei-ying DENG, Zhang-yi MA, Ying-nan WANG, et al. Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(10): 1322-1330.
邓美英, 马张翼, 王英男, 等. 基于捕获点理论的下肢步行康复外骨骼防跌倒步态规划[J]. 信息与电子工程前沿（英文）, 2019,20(10):1322-1330. DOI： 10.1631/FITEE.1800777.

Mei-ying DENG, Zhang-yi MA, Ying-nan WANG, et al. Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(10): 1322-1330. DOI： 10.1631/FITEE.1800777.

摘要

研究了在下肢康复外骨骼康复训练过程中穿戴者上半身向前倾斜导致的平衡问题。通过对人体-外骨骼系统建模并使用捕获点理论获取瞬时捕获点，将稳定区域与不同步态相的瞬时捕获点比较，分析不同步态相的平衡特性以及步态过程中平衡状态的变化。基于人体骨骼系统的模型和不同阶段的平衡条件，针对穿戴者上半身前倾导致人体骨骼系统的不稳定性，提出一种轨迹校正策略。最后，在浙江大学下肢外骨骼上实验，验证轨迹校正策略的可靠性。所提轨迹校正策略可及时响应上半身前倾，同时在重心从双支撑相转移到单支撑相的过程中，步态周期与零力矩点传递的比值相应减小，步态稳定性提高。

Abstract

We study the balance problem caused by forward leaning of the wearer's upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modeling the human-exoskeleton system and using the capture point theory. By comparing the stability region with instantaneous capture points of different gait phases

the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases

a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer's upper body. Finally

the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University Lower Extremity Exoskeleton. The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally

in the process of the center of gravity transferred from a double-support phase to a single-support phase

the ratio of gait cycle to zero moment point transfer is reduced correspondingly

and the gait stability is improved.

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