【摘要】 下肢康复外骨骼仍面临人机运动同步性不足、穿戴舒适性与辅助效能难以协同、人机相容性缺乏量化评估体系等问题。人体生理结构个体差异与运动状态的动态变化，进一步增加了外骨骼的适配设计难度。针对可移动下肢康复外骨骼的人机相容性问题，构建一套融合实验测量与仿真分析的评估方法。通过SolidWork与OpenSim Creator协同建模，建立外骨骼与人体肌肉骨骼系统的耦合模型。通过设置不同刚度的Bushing力约束，模拟外骨骼对人体运动的辅助效果，揭示了约束力参数与人机运动相容度的关联规律。结果表明：当绑带刚度为15 N/mm时，外骨骼与人体的运动相容度达到95%以上，满足康复训练需求。研究成果为下肢康复外骨骼的优化设计提供了科学依据，并为后续的临床应用提供了理论支持。更多还原

【Abstract】 Lower limb rehabilitation exoskeletons still confront critical challenges, including inadequate human-machine motion synchronization, the inherent trade-off between wearing comfort and assistive efficacy, and the absence of a quantitative evaluation system for human-machine compatibility. Moreover, individual variations in human physiological structures and dynamic fluctuations in motion states further exacerbate the complexity of adaptive design for exoskeletons. An evaluation method integrated experimental measurement and simulation analysis was constructed to address the human-machine compatibility issue of mobile lower limb rehabilitation exoskeletons. A coupled model of the exoskeleton and the human musculoskeletal system was established through SolidWorks and OpenSim Creator for collaborative modeling. By setting different stiffness Bushing force constraints, the auxiliary effect of the exoskeleton on human movement was simulated, revealing the correlation between the constraint force parameters and the human-machine motion compatibility. The results show that when the stiffness of the binding strap is 15 N/mm, the motion compatibility between the exoskeleton and the human body reaches over 95%, meeting the requirements of rehabilitation training. The research results provide a scientific basis for the optimal design of lower limb rehabilitation exoskeletons and theoretical support for subsequent clinical applications.更多还原