优化膝外骨骼运动范围，提升康复效果
Optimal Kinematic Synthesis and Prototype Development of Knee Exoskeleton
- 基于人体腿型数据建模，求解最优连杆尺寸
- 坐站动作时运动范围提升24%
- 原型验证仿真结果，适合康复工程研究者
膝外骨骼的旋转范围（RoR）是康复中的关键因素，直接影响关节活动度、肌肉激活和恢复效果。本文针对单自由度膝外骨骼进行最优设计，其运动学模型由非线性、非凸数学函数描述。基于人体平均腿部尺寸，建立优化问题以获得可行且最优的连杆参数。优化后方案在坐站动作中使膝外骨骼运动范围提升24%。通过标记点与相机系统对比人体与外骨骼膝关节轨迹，开展偏移分析。最终基于优化尺寸开发原型，验证了仿真中实现的最大运动范围。
原文摘要 · Abstract (English)
The range of rotation (RoR) in a knee exoskeleton is a critical factor in rehabilitation, as it directly influences joint mobility, muscle activation, and recovery outcomes. A well-designed RoR ensures that patients achieve near-natural knee kinematics, which is essential for restoring gait patterns and preventing compensatory movements. This paper presents optimal design of one degree of freedom knee exoskeleton. In kinematic analysis, the existing design being represented by nonlinear and nonconvex mathematical functions. To obtain feasible and optimum measurement of the links of knee exoskeleton, an optimization problem is formulated based on the kinematic analysis and average human's leg measurement. The optimized solution increases the range of motion of knee exoskeleton during sit to stand motion by $24 \%$ as compared with inspired design. Furthermore, misalignment study is conducted by comparing the trajectory of human's knee and exoskeleton's knee during sit to stand motion. The joint movement is calculated using marker and camera system. Finally, a prototype of the knee joint exoskeleton is being developed based on optimal dimensions which validate the maximum range of motion achieved during simulation.
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