目的 提出一种新型轻量化穿戴式下肢外骨骼助行机器人系统，探究其辅助步态紊乱者和T4脊髓节段以下损伤的截瘫患者(排除双下肢肌痉挛和明显疼痛者)实现行走及姿态变换康复训练的可行性。 方法 设计髋关节双电机主动驱动，膝关节被动四连杆模拟人体运动瞬心变化的主被动混合式可穿戴下肢外骨骼助行机器人结构，基于模块化设计思想，提出以STM32F767IGT6及外围电路为主控制器，包含姿态采集、电源和拐杖模块的控制系统。以正常人穿戴该外骨骼机器人进行平地、斜坡及姿态变换实验，分析运动过程中髋、膝、踝关节角度，并对比正常人穿戴和未穿戴该机器人股外侧肌和股内侧肌的肌电信号。 结果 穿戴者可实现仅基于该外骨骼机器人系统辅助的坐下-站立姿态变换以及平地/斜坡行走，且髋、膝、踝关节角度与正常人行走变化趋势基本一致，穿戴该机器人相比未穿戴行走时，股外侧肌和股内侧肌肌电信号均降低。 结论 该主被动混合式可穿戴下肢外骨骼助行机器人在仅髋关节两个电机驱动下，依然可实现行走及姿态变换的康复训练，验证了髋关节双电机主动驱动、膝关节被动四连杆结构的下肢外骨骼助行机器人系统帮助截瘫患者和步态紊乱者行走康复的可行性。
Objective To propose a new type of lightweight wearable lower extremity exoskeleton assisted robot system, and explore the feasibility of walking and posture change rehabilitation training for patients with gait disorder and with paraplegia under T4 spinal cord injury (exclusion of lower extremity muscle spasm and obvious pain). Methods The active and passive hybrid wearable lower extremity exoskeleton assisted robot structure of the hip joint with two-motor active drive and the knee joint passive four-link simulating the instantaneous movement of the human body was designed. Based on modular control, the STM32F767IGT6 and peripheral circuits, attitude acquisition, power supply and crutches module control system were proposed. The exoskeleton robot was worn by a normal person to perform the experiment of leveling, slope and posture transformation and analyze hip/knee /ankle joint angles during exercise, and compare the myoelectric signals of the lateral femoral and medial femoral muscles. Results The wearer could realize the sitting-standing posture change and the flat/slope walking only based on the exoskeleton robot system, and the hip/knee/ankle angles were basically consistent with the normal walking and the electromyographic signals of the lateral femoral, medial femoral muscle significantly decreased when the robot was worn while walking. Conclusion The active-passive hybrid lower exoskeleton assisted robot system can still achieve the rehabilitation of walking and posture change while reducing the weight. This verified the feasibility of the assisted robot system with the active dual-motor of the hip joint and the passive four-link structure of the knee joint to help the patients with paraplegia and gait disorder to walk and recover.
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