关键词: 下肢外骨骼, 稳定行走, 步态规划, 步行仿真

Abstract: The current state of the lower limb walking aid exoskeleton cannot maintain stable walking on its own and the method of gait planning has flaws. To solve the problem, a 10-DOF actively driven lower limb exoskeleton is designed and a method of gravitational projection based on static stability criteria is applied to the exoskeleton gait planning. In order to obtain the trajectory of all joints in the complete gait cycle, the constructors are used to design the Center-Of-Gravity(COG) and ankle trajectory by kinematics calculations. In addition, the spatial trajectory and dynamic parameters of key points during the walking period are obtained by constructing the virtual prototyping model of human-exoskeleton coupled system. Comparing with the planned COG and ankle trajectory, the exoskeleton can achieve the expected movement and walk stably in the simulation model, thus the gait planning method in this paper is available for the stable walking of exoskeleton.

Key words: lower limb exoskeleton, stable walking, gait planning, walking simulation