柔性膝关节保护外骨骼及其行走助力方法设计

杨灿军,彭桢哲,徐铃辉,杨巍

Design of flexible knee-joint protection exoskeleton and walking assistance method

Can-jun YANG,Zhen-zhe PENG,Ling-hui XU,Wei YANG

表 1 下肢各关节的运动范围

Tab.1 Motion range of each lower limb joint

关节运动 步行运动范围[14] 运动极限[15] 髋关节旋内/旋外 1.6°/13.2° 50°/40° 髋关节屈/伸 32.2°/22.5° 120°/30° 髋关节外展/内收 7.9°/6.4° 20°/45° 膝关节屈/伸 73.5°/0° 150°/0° 踝关节背屈/趾屈 14.1°/20.6° 20°/40° 踝关节内/外翻 16.5°/25.7° 20°/35°