【摘要】 随着人口老龄化加速，高龄脑卒中患者数量持续增加，其下肢运动功能障碍严重影响步态稳定性与生活质量。传统刚性外骨骼体积大、舒适性和柔顺性不足，难以满足高龄人群对安全性与轻量化的需求。针对上述问题，本文建立了鲍登线缆摩擦与弹性力学模型，并在此基础上提出基于导纳控制和PID控制的双环助力策略，实现对膝、踝关节步态偏差的柔顺补偿。通过两名高龄脑卒中受试者的穿戴实验进行验证，结果表明该系统能够显著提高膝关节屈曲能力，并在重度足内翻受试者中明显降低内翻峰值，同时减小关节角度波动、提升姿态稳定性。上述结果验证了所提出柔性外骨骼助力策略在高龄脑卒中康复中的可行性与应用潜力。更多还原

【Abstract】 With the accelerating pace of population aging, the number of older stroke patients continues to rise. Lower-limb motor impairments severely compromise gait stability and quality of life. Conventional rigid exoskeletons are often bulky and provide insufficient comfort and compliance, making it difficult to meet the safety and lightweight requirements of older users. To address these limitations, this study establishes mechanical models of Bowden-cable friction and elasticity, and on this basis proposes a dual-loop assistance strategy that integrates admittance control with PID control to achieve compliant compensation of gait deviations at the knee and ankle joints. Wearable experiments involving two older post-stroke participants demonstrate that the proposed system significantly improves knee flexion and markedly reduces the peak inversion angle in the participant with severe foot inversion, while also decreasing joint angle fluctuations and enhancing postural stability. These findings support the feasibility and application potential of the proposed exoskeleton-assisted strategy for gait rehabilitation in older stroke populations.更多还原