【摘要】 人体下肢运动障碍会导致机能减弱，充分收集利用人体能量是提高活动能力的有效途径。对人体下肢能量流动与迁移机理进行研究，构建了人体能量迁移方案。设计了一种具有能量离合管理功能的人体能量收集与迁移传动装置，采用圆柱凸轮机构控制离合器状态切换，周期性收集人体下肢关节做功能量。根据简化的人机耦合力学模型对传动系统进行人机耦合力学分析与虚拟样机仿真分析，结果表明：改变弹簧刚度与装置安装位置可明显改变下肢助力值。通过搭建物理样机试验平台，对外骨骼传动系统进行测试，结果表明：装置可为对侧下肢踝关节提供7 N拉力，实现对下肢运动的辅助。更多还原

【Abstract】 Disability of lower limb movement can lead to reduced function. Fully collecting and utilizing human energy is an effective way to improve the activity ability. The mechanism of energy flow and migration of human lower limbs was studied. A scheme of energy migration of human body was constructed. A human energy collection and transfer device with the function of energy clutch management was designed. A cylindrical cam mechanism was adopted to control clutch state transitions, thereby periodically collecting functional quantities from lower limb joints. Human-machine coupling mechanical analysis and virtual prototype simulation analysis were performed on the transmission system according to a simplified human-machine coupling mechanical model. Simulation results indicated that the adjustment of spring stiffness and device positioning significantly altered the assistance value to the lower limbs. A physical prototype platform was established to test the exoskeleton transmission system. The test results showed that the device could exert 7 N of tension on the contralateral ankle joint, assisting lower limb movement.更多还原