中文摘要：

下肢康复外骨骼机构与人体下肢之间连接关节轴线分布的不同会对人-机约束力产生不同的影响,从而可能会影响外骨骼机构在使用过程中的安全性和舒适性.基于螺旋理论,对人-机闭链中刚体骨骼模型的大腿构件、小腿构件以及与其相连的外骨骼机构连杆分别进行了受力分析,求得外骨骼机构对人体下肢在连接位置处的约束力和约束力矩.分析了不同方向的人-机约束力对穿戴过程中安全性和舒适性的影响,并给出了一个数值算例,比较了胡克铰两种轴线分布情况下人-机约束力的变化规律,为外骨骼的结构设计提供一定的依据.

英文摘要：

The human-machine constrained force is affected by the different axis directions of the connection motion pairs which ace placed between the lower limb rehabilitation exoskeleton mechanism and the human being, and it can probably affects the safety and comfort of the use af the process. The force of the thigh and calf af the rigid body skeleton model and the exoskeleton mechanism linkages connecting with the rigid body skeleton model in the human-machine closed kinematic chain is analyzed based on screw theory, and the constrained force and constrained torque are obtained in the human-machine connection position. The effect by the constrained force of different directions for the safety and comfort is analyzed. An example is given to compare the changes of the human-machine constrained force in the case of two different axis directions of the hooker hinge, and it provides the basis for the design of the exoskeleton.