In rehabilitation training, it is crucial to consider the compatibility between exoskeletons and human legs in motion. However, most exoskeletons today adopt an anthropomorphic serial structure, which results in rotational centers that are not precisely aligned with the center of the hip joint. To address this issue, we introduce a novel exoskeleton called the Parallel Hip Exoskeleton (PH-Exo) in this paper. PH-Exo is meticulously designed based on the anisotropic law of output torque. Considering the friction of the drive components, a dynamic model of the human–machine complex is established. Simulation analysis demonstrates that PH-Exo not only exhibits outstanding torque performance but also achieves high controllability in both flexion/extension and adduction/abduction directions. Additionally, a robust controller is designed to address model uncertainty, friction, and external interference. Wearing experiments indicate that under the control of the robust controller, each motor achieves excellent tracking performance.

在康复训练中，考虑外骨骼与人腿运动时的兼容性至关重要。然而，当今大多数外骨骼采用拟人化的串行结构，这导致旋转中心与髋关节中心不精确对齐。为了解决这个问题，我们在本文中引入了一种新型外骨骼，称为平行髋外骨骼（PH-Exo）。 PH-Exo是根据输出扭矩的各向异性定律精心设计的。考虑驱动部件的摩擦，建立了人机复合体的动态模型。仿真分析表明，PH-Exo不仅具有出色的扭矩性能，而且在屈曲/伸展和内收/外展方向上均实现了高度的可控性。此外，鲁棒控制器旨在解决模型不确定性、摩擦和外部干扰问题。佩戴实验表明，在鲁棒控制器的控制下，各电机均实现了优异的跟踪性能。