在为提高卒中病人的行走能力训练当中,广泛采用平板训练.在平板训练中,病人的下肢需要治疗师辅助进行运动.这种徒手训练对治疗师来说很消耗体力.因此,研制了一个用于步态训练的动力式下肢外骨骼装置.该外骨骼装置在平板训练中为髋关节和膝关节提供助力.外骨骼装置的结构基于人的关节驱动原理,每个关节由一对气动肌肉驱动.以气动肌肉的模型为基础,对外骨骼装置的驱动模型进行了分析.实验证明了外骨骼装置对于步态康复训练的有效性和安全性.%Treadmill training is widely used to improve the walking ability of stroke patients. During treadmill training, the movements of the patient s lower limbs must be assisted by therapists. The manual training provided by therapists is demanding and labor intensive. Therefore, a powered lower limb exoskeleton was developed for gait training. The exoskeleton can provide power for the hip and knee joints during treadmill training. The actuation of the exoskeleton was based on the principles of human joint actuation, and each joint of the exoskeleton was actuated by a pair of pneumatic muscles. The actuation model of the exoskeleton was analyzed on the basis of the pneumatic muscle model. Preliminary experimentation proved that the exoskeleton is effective and safe for gait rehabilitation training.
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