中文摘要：

设计用于步态康复训练的下肢外骨骼矫形器。利用Solidworks、Adams和Matlab协同仿真方法，建立下肢外骨骼矫形器虚拟样机三维实验平台，对步行训练的动态特性和控制系统进行仿真研究。针对关节轨迹跟踪控制提出计算力矩加PD反馈啦制的方法，仿真结果证明这种方法能够较好使关节力矩跟踪理想轨迹运动并渐近稳定。虚拟样机协同仿真的方法确切有效的分析下肢外骨骼矫形器步行运动，为研发下肢外骨骼矫形器物理样机提供主要参考。

英文摘要：

Lower limb exoskeleton orthosis was used as rehabilitation device in gait training. To develop the lower limb exoskeleton orthosis, the method based on virtual prototype and collaborative simulation was proposed. Solidworks, Adams and Matlab/Simulink were integrated to be used as a united simulation platform for virtual prototype of lower limb exoskeleton orthosis to develop the dynamic properties of the control system. On the trajectory tracking control of the driven joint, the computed torque and proportion-differential feedback control law was found in collaborative simulation platform. The result indicates that the joint＇s driven torque based on the method can well track desire trajectories and is asymptotic stability. In the collaborative simulation platform, the dynamic properties of the system are analyzed correctly and efficiently. A reliable solution is proposed for the entire design of lower limb exoskeleton orthosis.