基于多模式弹性驱动器的膝关节外骨骼机械腿

doi:10.13973/j.cnki.robot.2017.0498

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韩亚丽, 吴振宇, 许有熊, 温秀兰, 朱松青, 郝大彬. 基于多模式弹性驱动器的膝关节外骨骼机械腿[J]. 机器人, 2017, 39(4): 498-504.DOI: 10.13973/j.cnki.robot.2017.0498. HAN Yali, WU Zhenyu, XU Youxiong, WEN Xiulan, ZHU Songqing, HAO Dabin. The Knee Exoskeleton Mechanical Leg Based on Multi-modal Elastic Actuator. ROBOT, 2017, 39(4): 498-504. DOI: 10.13973/j.cnki.robot.2017.0498.

摘要基于人体行走过程中下肢肌肉的运动机理，提出一种多模式弹性驱动器，并应用于膝关节外骨骼中实现膝关节外骨骼机械腿的刚性驱动及柔性驱动．首先，对多模式弹性驱动器及膝关节外骨骼进行机构设计，并分析驱动器运动模式．其后，进行驱动器的动力学建模，并分析弹性参数、阻尼参数及负载对驱动器输出带宽的影响，针对弹性驱动器特征进行了基于运动状态机的控制策略研究．最后，根据控制策略对膝关节外骨骼样机实施运动控制．实验结果表明，膝关节外骨骼能根据运行状态机实现有效控制，从而验证了弹性驱动器设计的合理性．

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关键词 ：弹性驱动器, 多模式运动, 膝关节外骨骼, 运动状态机

Abstract：A multi-modal elastic actuator is proposed based on the movement mechanism of lower limb muscles during human walking, and applied to knee exoskeleton to realize the rigid and soft drive of the knee exoskeleton mechanical leg. Firstly, the mechanism design of the multi-modal elastic actuator and knee exoskeleton is carried out, and the motion pattern of the actuator is analyzed. Then, the dynamic modeling of the actuator is carried out, and the influences of the elastic parameters, damping parameters and load on the output bandwidth of the actuator are analyzed. For the characteristics of the elastic actuator, the control strategy based on the motion state machine is studied. Finally, the knee exoskeleton prototype is controlled by the control strategy. The experimental results show that the knee exoskeleton can realize effective control according to the motion state machine, which verifies the rationality of the design of the elastic actuator.

Key words： elastic actuator multi-modal motion knee exoskeleton motion state machine

收稿日期: 2017-03-08 录用日期: 2017-07-05

TH39

基金资助:国家自然科学基金（51205182，51675259），南京工程学院创新基金重大项目（CKJA201501，CKJA201605）

通讯作者: 韩亚丽,E-mail:S966237@163.com E-mail: S966237@163.com

作者简介: 韩亚丽(1978-),女,博士,副教授,研究领域:仿生机器人技术及智能控制,助力外骨骼机器人,人体运动生物力学等.
吴振宇(1994-),男,硕士生,研究领域:机器人动力学及控制,康复机器人.
许有熊(1980-),男,博士,副教授,研究领域:机电一体化.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0498 或 https://robot.sia.cn/CN/Y2017/V39/I4/498

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