中文摘要：

针对患者主动参与的步行康复训练，利用牛顿-欧拉法建立了患者与外骨骼机械腿的动力学模型，推导出提取患者下肢主动力的简化模型。在此基础上，设计了用于测量人-机耦合力的装置，并在实验样机上进行了加载3组不同质量产生的惯性作用耦合力的在线测量实验和一个步态周期内加载了3组患者模拟主动作用力的测量实验，获得了最大标准差为0．208N实验结果数据。实验数据表明，该装置能满足用于在线测量人-机耦合力的测量精度要求，以及康复训练中基于动力学模型的患者主动作用力测量的可行性，该测量方法和装置为实现下肢步行康复训练机器人的患者主动参与康复运动的外骨骼机械腿的主动控制建立了基础。

英文摘要：

To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject. A method to extract the subject＇s active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed,one is an on-line experiment via different mass loadings, the other is the experiment via different forcing at rest positions in one gait cycle. The experimental results show that the mechanism is available for human-robot coupling force measuring. It also provides the feasibility and validity which will be used in subject＇s on-line extracting of active forces based on the dynamic model during rehabilitation training.