首页|并联式髋关节外骨骼设计与基于人机耦合动力学方法的系统实现

并联式髋关节外骨骼设计与基于人机耦合动力学方法的系统实现

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  • 国家科技期刊平台
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同构串联式外骨骼普遍存在人体生物关节轴线与外骨骼机械关节的转动轴线发生偏移(即人机关节失配)的问题。为此，本文提出了一款并联式髋关节外骨骼，通过新型的结构设计消除了人机关节失配的问题和穿戴前繁琐的人机关节校对环节，同时具有人体髋关节的所有运动自由度，并实现髋关节屈曲/伸展和外展/内收方向的助力。另外，为解决并联外骨骼驱动力耦合问题，提出了基于人机耦合动力学模型的控制方法，实现了各支链驱动器的协同助力控制。最后，构建了可穿戴外骨骼样机系统，在穿戴者身上开展了1类外骨骼运动性能验证实验和4类运动助力实验，实验结果验证了所提出外骨骼与人体良好的运动相容性以及控制器助力的有效性。
Design of a Parallel Hip Exoskeleton and Its System Implementation Based on Human-Machine Integrated Dynamics
Misalignment between the axes of the human biological joint and the exoskeleton mechanical joint remains an open problem for serial anthropomorphic exoskeletons.To solve this problem,a hip exoskeleton with parallel structure is proposed.With the novel structure,the misalignment between the biological and mechanical joints is eliminated,and therefore the exhausting alignment process of mechanical adjustment before use.In addition,all the hip biological degrees of freedom(DoFs)can be achieved by the proposed exoskeleton,and the hip flexion/extension and abduction/adduction motion can be assisted.To address the problem of coupled actuation introduced by parallel structure,a control method based on human-machine integrated dynamic model is proposed,which enables coordinated control of branch actuators so that assistance can be delivered properly.Moreover,a physical exoskeleton prototype is built.The motion pattern of the proposed exoskeleton is verified in an experiment and the assistive performance is verified by other four experiments.The results demonstrate the kinematic compatibility of the proposed hip exoskeleton and the assistive performance of the controller.

parallel exoskeletonhuman-machine integrated dynamics modelinghuman-machine interactionhip ex-oskeleton

王向阳、陈春杰、马跃、曹武警、吴新宇

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中国科学院深圳先进技术研究院,广东深圳 518055

广东省机器人与智能系统重点实验室,广东深圳 518055

并联式外骨骼 人机耦合动力学建模 人机交互 髋关节外骨骼

国家自然科学基金国家自然科学基金国家自然科学基金国家自然科学基金中国博士后科学基金中国博士后科学基金广东省自然科学基金广东省自然科学基金深圳市科技计划基础研究项目深圳市医学研究专项

6230344462125307U2013207U23A20344GZC202328662023M7436912021A15150116992023A1515011321基20220040B2302002

2024

10.13973/j.cnki.robot.230149

机器人
中国自动化学会　中国科学院沈阳自动化研究所

机器人

CSTPCD北大核心
影响因子：1.134
ISSN：1002-0446
年,卷(期)：2024.46(3)
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