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.
贺贵松，黄学功，李峰
. Coordination Design of a Power-Assisted Ankle Exoskeleton Robot
Based on Active-Passive Combined Drive[J]. Journal of Shanghai Jiaotong University(Science), 2025
, 30(1)
: 197
-208
.
DOI: 10.1007/s12204-023-2589-8
[1] JACKSON R W, COLLINS S H. Heuristic-based ankle exoskeleton control for co-adaptive assistance of human locomotion [J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2019, 27(10): 2059-2069.
[2] BURTON A. Expecting exoskeletons for more than spinal cord injury [J]. The Lancet Neurology, 2018, 17(4): 302-303.
[3] PUENTES S, KADONE H, KUBOTA S, et al. Reshaping of gait coordination by robotic intervention in myelopathy patients after surgery [J]. Frontiers in Neuroscience, 2018, 12: 99.
[4] LI Z J, YUAN Y X, LUO L, et al. Hybrid brain/muscle signals powered wearable walking exoskeleton enhancing motor ability in climbing stairs activity [J]. IEEE Transactions on Medical Robotics and Bionics, 2019,1(4): 218-227.
[5] XIAO Y F, JI X J, WU H, et al. Bionic knee joint structure and motion analysis of a lower extremity exoskeleton [C]//2020 4th International Conference on Robotics and Automation Sciences. Wuhan: IEEE,2020: 91-95.
[6] GU C H, GAO M H, QIAN W X, et al. Gait recognition and robust autonomous location method of exoskeleton robot based on machine learning [C]//2019 4th International Conference on Control and Robotics Engineering. Nanjing: IEEE, 2019: 110-114.
[7] ASBECK A T, SCHMIDT K, GALIANA I, et al. Multi-joint soft exosuit for gait assistance [C]//2015 IEEE International Conference on Robotics and Automation. Seattle: IEEE, 2015: 6197-6204.
[8] ZHOU S Z, CHEN Z, SONG W, et al. Design and gait realization of power-assisted lower limbs exoskeleton [C]//2019 IEEE International Conference on Cybernetics and Intelligent Systems and IEEE Conference on Robotics, Automation and Mechatronics. Bangkok: IEEE, 2019: 101-106.
[9] DING Y, GALIANA I, ASBECK A T, et al. Biomechanical and physiological evaluation of multi-joint assistance with soft exosuits [J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25(2): 119-130.
[10] HE G, HUANG X, LI F, et al. Review of powerassisted lower limb exoskeleton robot [J]. Journal of Shanghai Jiao Tong University (Science), 2022. https://doi.org/10.1007/s12204-022-2489-3
[11] KIM M, LIU C, KIM J, et al. Bayesian optimization of soft exosuits using a metabolic estimator stopping process [C]//2019 International Conference on Robotics and Automation. Montreal: IEEE, 2019: 9173-9179.
[12] HONG Y P, KOO D, PARK J I, et al. The SoftGait: A simple and powerful weight-support device for walking and squatting [C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg: IEEE, 2015: 6336-6341.
[13] JIN X, PRADO A, AGRAWAL S K. Retraining of human gait: Are lightweight cable-driven leg exoskeleton designs effective? [J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2018, 26(4): 847-855.
[14] GASPARRI G M, BAIR M O, LIBBY R P, et al. Verification of a robotic ankle exoskeleton control scheme for gait assistance in individuals with cerebral palsy [C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid, Spain: IEEE, 2018: 4673-4678.
[15] MIYAZAKI T, TAGAMI T, MORISAKI D, et al. A motion control of soft gait assistive suit by gait phase detection using pressure information [J]. Applied Sciences, 2019, 9(14): 2869.
[16] GASPARRI G M, LUQUE J, LERNER Z F. Proportional joint-moment control for instantaneously adaptive ankle exoskeleton assistance [J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2019, 27(4): 751-759.
[17] THATTE N, SHAH T, GEYER H. Robust and adaptive lower limb prosthesis stance control via extended Kalman filter-based gait phase estimation [J]. IEEE Robotics and Automation Letters, 2019, 4(4): 3129-3136.
[18] THAKUR C, OGAWA K, TSUJI T, et al. Soft wearable augmented walking suit with pneumatic gel muscles and stance phase detection system to assist gait [J]. IEEE Robotics and Automation Letters, 2018, 3(4):4257-4264.
[19] CHEN C J, ZHANG Y, LI Y J, et al. Iterative learning control for a soft exoskeleton with hip and knee joint assistance [J]. Sensors, 2020, 20(15): 4333.
[20] SIVIY C, BAE J, BAKER L, et al. Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking [J]. IEEE Robotics and Automation Letters, 2020, 5(2): 828-835.
[21] ROY G, BHUIYA A, MUKHERJEE A, et al. Kinect camera based gait data recording and analysis for assistive robotics: An alternative to goniometer based measurement technique [J]. Procedia Computer Science, 2018, 133: 763-771.
[22] SCZESNY-KAISER M, TROST R, AACH M, et al. A randomized and controlled crossover study investigating the improvement of walking and posture functions in chronic stroke patients using HAL exoskeleton: The HALESTRO study (HAL-exoskeleton STROke study) [J]. Frontiers in Neuroscience, 2019, 13: 259.
[23] KWON S H, LEE B S, LEE H J, et al. Energy efficiency and patient satisfaction of gait with knee-anklefoot orthosis and robot (ReWalk)-assisted gait in patients with spinal cord injury [J]. Annals of Rehabilitation Medicine, 2020, 44(2): 131-141.
[24] LI J, ZHU L Y, GOU X F. Survey on exoskeleton lower limbs rehabilitation robot and its key technologies [J]. Chinese Medical Equipment Journal, 2018, 39(8): 95-100 (in Chinese).
