基于脊髓反射模型的踝关节-步行环境自适应机制及助力优化研究

步行助力外骨骼具有广阔的应用前景，踝是关键的助力关节。当前研究中，对踝关节的运动控制和环境适应机制了解有限，未能考虑外骨骼与足踝的人机交互过程中的步态扰动，在降低代谢能耗上存在瓶颈。脊髓反射是人体快速调节肌肉长度和载荷的重要途经，通过人为构建反射回路可实现扰动环境下的步态模拟，在柔性外骨骼助力设计中有较大潜力。最近，本团队通过实验发现，长期运动可以改变踝关节伸肌和屈肌的共收缩，从而降低运动能耗，对外骨骼助力有重要参考价值。本项目基于脊髓反射控制步态模型，通过研究人体步行时踝关节对支撑界面（坡度、硬度和光滑度）、助力时机和幅度的生物力学响应，明确踝关节适应机制；通过实验和仿真分析，优化踝关节助力设计方案，通过代谢能耗评价其助力效率；并进一步分析其对髋、膝关节的生物力学影响，评价系统安全性。本项目有助于从运动控制角度理解步态规律，优化人机协同的踝关节助力设计，实现柔性外骨骼助力实用化。

The exoskeleton has a wide range of applications in assistance during walking. The ankle joint is one of the main joints for exoskeleton assistance. In previous studies, there is limited understanding of the motor control of the ankle joint and its adaptation mechanism to walking environment. Failure to consider the gait disturbances in the human-exosuit interaction makes it difficult to reduce metabolic energy consumption. Spinal reflex is an important way to quickly adjust the length and load of muscles. By artificially contributing certain reflex circuits, gait simulation in a disturbed environment can be realized. This may have great potential in the design of exoskeleton assistance. .The applicant's team has researched the ankle biomechanics and recently found that long-term exercise can change the co-contraction of the ankle extensor and flexor muscles, thereby reducing exercise energy consumption. This process has important reference value for design of exoskeleton assistance. Based on an improved gait model of spinal reflex, we will study the biomechanical response of the ankle joint to the support interface (slope, hardness, and smoothness), timing and amplitude of the exoskeleton assistance during walking, to determine the adaptation mechanism of the ankle joint to the walking environment. Through in-vivo experiments and computational simulations, we will optimize the design scheme of ankle exoskeleton assistant, and evaluate its efficiency using metabolic energy consumption. We will also further analyze the biomechanical impact on hip and knee joints of the ankle exoskeleton assistant, and evaluate safety of the whole system. .This project is helpful for understanding the walking pattern of the human body from the perspective of motor control, and optimizing the design of ankle exoskeleton with nice human-exosuit interaction.