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

摘要： 针对目前大多数下肢助行外骨骼自身不能维持稳定行走与步态规划方法存在缺陷的现状，设计一种10自由度主动驱动下肢外骨骼；其步态规划基于静稳定性判据，采用重心投影法，利用构造函数规划重心及踝关节轨迹，进一步通过运动学计算获得完整步态周期内所有关节的运动轨迹；运用ADAMS构建人-外骨骼耦合运动虚拟样机模型，进行平地步行仿真，仿真得到关键点的空间轨迹与动力学参数，通过与规划的重心和踝关节轨迹对比，外骨骼能够实现预期运动并稳定行走，仿真结果表明所设计的步态规划方法合理有效。

关键词: 下肢外骨骼, 稳定行走, 步态规划, 步行仿真