中文摘要：

对用于步行训练的下肢外骨骼矫形器的动力学与运动控制进行了研究。首先利用拉格朗日法建立了下肢外骨骼矫形器在跑步机上双足步行的动力学模型；在此基础上，设计了实现下肢外骨骼矫形器的轨迹跟踪控制的计算力矩加比例微分反馈控制系统，并采用Lyapunov方法，分析了控制系统在建模存在误差情况下的稳定性和收敛性；最后，在Adams-Matlab虚拟样机协同仿真平台上进行了下肢外骨骼矫形器的步行仿真实验，结果表明该控制方法对下肢外骨骼矫形器的轨迹跟踪控制是有效的。

英文摘要：

The dynamics modeling and motion control for a lower limb exoskeleton orthosis used for gait training were investigated. Firstly, a dynamic model of the powered gait orthosis （a lower limb exoskeleton orthosis） walking on the treadmill was established based on the research of the body weight support training. Then, the computed torque controller with proportion-differential feedback was designed to realize the trajectory tracking control for the lower limb exoskeleton orthosis. According to the Lyapunov function, the stability and the convergence of the control system were proved based on the dynamic model with modeling errors. Finally, the simulations on the virtual prototype were carried out in a collaborative simulation platform integrating Adams and Matlab. The results indicate that the proposed method can effectively control and track the trajectory of the lower lib exoskeleton orthosis.