基于惯性动作捕捉的下肢外骨骼步态生成与仿真验证

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中图分类号：TP242；TP391.9 文献标识码：A 文章编号：2096-4706（2026）05-0150-06

Gait Generation and Simulation Verification of Lower Limb Exoskeleton Based on Inertial Motion Capture

ZHANG Yuxuan1，LU Feng （1.SchoolofMechanicalEngineering，GuizhouUniversityGuiyang55o25，China;2.KeyLaboratoryofAdvanced Manufacturing Technologyof the MinistryofEducation，Guizhou University，Guiyang 55oo25，China）

Abstract：Aiming at the problems of pooradaptabilityand insuffcient human-machine coordination in traditional gait generation methods forlowerlimb exoskeletons，this paperproposes adata-driven method basedon inertial motioncapture and muli-bodydynamicssimulation.Thegait dataofhealthy individualsand patients arecollectedbytheNoitomsystem.The joint angletrajectoriesaregeneratedbyusing splinecurvefting，andadynamicadaptationalgorithmisdesignedtoachievereal-time adjustmentof gaitplaning.Ahuman-machinejointsimulationmodelisconstructedinADAMS，andtheCUBSPLsplineisused to drive joint movementforsystematic kinematicand dynamic analysis.Theresults showthatthe generated exoskeletongait is highlyconsistentwitheaturalgaitisofjintangle，splacementelocityandtorque，ichsteecti ofthe method.This studyprovidesacompletetechnicalpathforpersonalizedgait planingandrapid verificationoflowerlimb exoskeletons，and has reference value for improving the adaptability and safety of rehabilitation training.

Keywords： lower limb exoskeleton; inertial motion capture; gait generation; ADAMS simulation; data-driven

0 引言

随着医疗科技的快速发展，下肢外骨骼在康复医学中的应用日益广泛，成为帮助患者恢复行走能力、提升生活质量的重要工具。（剩余7737字）