为了提高截瘫辅具的易用性及解决辅具的弃用问题，协助早期康复的截瘫患者实现类行走步态，必须从助行策略的不足进行改良。本研究为此对人体下肢的运动特性进行了分析，旨在对适应截瘫患者与正常人步态差异性的助行方式进行研究，从而提出一种新的助行策略及辅具设计方案。通过仿真及实验，本文分析了正常步态与患者步态的运动模式，证实双脚不离地的摆髋滑步步态可以作为发挥患者下肢残存能力并实现截瘫患者平地行走的一种更简单的辅助行走方式，可以有效规避现有全肢体物理引导策略实现此种步态时的冗赘问题。足底驱动助行方式与一般辅具采用的髋-膝关节驱动助行方式相比，更能简单地满足截瘫患者的助行需求。论文对人体与辅具结合后的人-机组合模型进行了分析，借用Matlab进行了建模仿真，从而得以研究足底驱动方式的助行辅具在协助患者行走时的运动学特性，证实采用该种助行方式虽然使辅具的运动复杂性增加，但由于允许髋关节实现更多的活动模式，还将有利于辅具与患者的调配性。结合临床经验及需求，提出了多个辅具的具体机械结构样机设计方案以论证足底驱动式康复助行策略的可行性，包括膝关节过渡性步态的应对方案，以及对应外八字步态的调整机构。足底驱动截瘫助行辅具通过程控的电机限制了患者的髋关节和膝关节的自由度，因此患者行走训练过程中的下肢及骨盆稳定性较好，可有效降低摔倒风险，有利于无减重跑步机行走训练和地面行走训练的进行。同时，由于外骨骼的支撑作用及提供的辅助力，患者的自主活动能力及重心调整能力的需求下降，这将有利于推迟训练时疲劳的出现，增加训练的时间和数量。验证性样机的正常人实验中，使用者在完成滑步步态时的肌肉参与度减少，足底驱动式助行辅具替代了该动作相关肌肉的功能，而对于下肢对应肌肉功能较弱或完成缺失的患者而言，这种替代性将有利于他们完成滑步步态，由此验证了将此种设备作为助行辅具是可行性。足底驱动截瘫助行辅具因驱动方式简化，使得整体结构有所简化，可作为常规助行方式的补充，成为一种接驳式助行设备，为下肢功能较弱或康复进度不理想患者的另外一种可供选择的助行方式。

To improve the usability and abandonment of mobility assistive devices for post spinal cord injury (SCI) patient, and realize locomotor-like activity for the patients with early rehabilitation, it is necessary to make improvement from the disadvantages of the current assistive strategies. The study analyzes the kinetic characteristics of the lower limbs of the human, with the purpose of studying the adaption of over-ground locomotor assistance to the difference of the motor pattern between patient and healthy person. The study introduces a novel concept and prototype of assistive technology to take an equilibrium between mobility and gait realization.Through the simulation and experiment, the kinetic mode of the gait of the normal people and the patient have been investigated. The slide-like gait (dragging step with two feed standing on the ground), which is regarded as the common motor pattern on early rehabilitation stage, is more suitable for the characteristics of the patients’ residual capability of the lower limb. Consequently, the mobility aid method base on foot-driven strategy has been established. By aiding the patients to realize a locomotor-like activity with their own motor pattern and residual function, the foot driven strategy is more suitable for the patients’ requirement than the current assistive method (such as the hip-knee induced assistive device). In addition, the man-machine model proceeded in Matlab has been analyzed. Both the foot-driven type and the hip-knee induced type assistance device have been taken into account and the kinetic characteristics during locomotor assistance have been investigated. The foot-driven strategy increase the kinetic complexity of the assistive devices, yet allowing more activity pattern on the hip joint will be favorable for the reasonable coordination between the assistive devices and patients.According to the clinical experience and demands, it puts forward specific mechanical structure of prototype design proposal of several assistive devices to prove the feasibility of the foot-driven rehabilitation and assistance, including the measure of the knee-ankle coordination mechanism, and the gait adjustment mechanism. The foot-driven over-ground locomotor assistive equipment for the post SCI patient restricts the freedom degree of the hip and knee joint through the programmable motor. Therefore, the lower limbs and pelvis have relatively good stability during the walking training. It can effectively reduce the tumbling risk and also it is favorable for the walking on the treadmill and on the ground. Meanwhile, due to the supporting effect and provided auxiliary force of the exoskeleton, the patients’ requirement for volitional activity ability and balance adjustment are reduced, which is favorable for postponing the emerging of the fatigue during the training and increasing the training period and amount.With regard to the initial prototype device for the normal people, the subject’s muscle participation when the sliding step is finished is reduced, and the foot-driven mobility assistive device replaces the function of the muscle of this movement. However, for the patients with the weak muscle function of the lower limb and the insufficiency, such replacement will be favorable for them to finish the locomotor-like activity. Thus, it verifies the feasibility of such device. As the prototype mode of the foot-driven mobility aid device for the paraplegia is simplified and the whole structure is also simplified, it can be regarded as the supplementary of the common walking aid way and become a kind of connecting walking aid device, which provides another kind of optional walking aid ways for the patients who have relatively weak function of the lower limb.