Abstract: With the continuous escalation of modern war, soldiers need to transport more combat materials to the combat area. The limited load-bearing capacity of soldiers seriously restricts their carrying capacity and mobility. It is urgent to develop a power-assisted exoskeleton robot suitable for individual combat. In the past, most power-assisted exoskeleton robots were driven by motors. This driving method has an excellent powerassisted effect, but the endurance is often insufficient. In view of this shortcoming, this study designed an ankle exoskeleton robot based on an active-passive combined drive through simulation analysis of human motion. It used OpenSim software to simulate and verify that the addition of spring could achieve a good effect. At the same time, according to the gait characteristics of the human body, the gait planning of an exoskeleton robot was carried out. Afterwards, theoretical analysis explained that the cooperation among spring, motor and wearer could be realized in this gait. Finally, the assisting ability and driving coordination of the active-passive combination driven ankle exoskeleton robot were verified through experiments.

Key words: power assistance, ankle joint, active-passive combination, combined drive, gait planning

摘要： 随着现代化战争的不断升级，士兵需要将更多的作战物资运送到作战区域。由于士兵的负重能力有限，这严重制约了士兵的携行能力和机动能力，所以研制出适合单兵作战的助力型外骨骼机器人就显得迫在眉睫。以往的助力型外骨骼机器人大多数采用电机驱动，这种驱动方式有着很好的助力效果，但往往续航能力不足。本文针对这一缺点，通过对人体运动进行仿真分析，设计了一款基于主被动联合驱动的踝关节外骨骼机器人，并利用OpenSim软件仿真验证了弹簧的加入可以很好地实现助力效果，同时根据人体步态特征对外骨骼机器人进行了步态规划。之后采用理论分析说明了在该步态下可以实现弹簧、电机、穿戴者三者之间的协同。最后通过实验验证了主被动联合驱动的助力型踝关节外骨骼机器人的驱动协调性和助力性。

关键词: 助力，踝关节，主被动联合，协调驱动，步态规划