基于踝关节处人机位姿误差的外骨骼摆动腿控制

doi:10.13973/j.cnki.robot.2015.0403

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引用本文:
贾山, 王兴松, 路新亮, 徐继刚, 韩亚丽. 基于踝关节处人机位姿误差的外骨骼摆动腿控制[J]. 机器人, 2015, 37(4): 403-414.DOI: 10.13973/j.cnki.robot.2015.0403. JIA Shan, WANG Xingsong, LU Xinliang, XU Jigang, HAN Yali. Control of the Exoskeleton's Swing Leg Based on the Human-MachinePosture Error at Ankle Joint. ROBOT, 2015, 37(4): 403-414. DOI: 10.13973/j.cnki.robot.2015.0403.

摘要

提出了一种外骨骼整机运动控制策略，并重点介绍了外骨骼摆动腿的运动规划与 PD(比例－微分)控制.作为外骨骼摆动腿运动规划的依据，踝关节处人机位姿误差检测仅需要在腰部与踝足部进行人机绑定，降低了对穿戴者运动的限制与控制系统的复杂性.通过 Adams 与 Matlab 验证了作为外骨骼摆动腿 PD 控制器设计基础的外骨骼动力学模型的正确性.引入卡尔曼滤波器预测穿戴者摆动腿的运动可以在有限的采样频率下改善控制精度.实验结果表明，该方法能有效识别穿戴者摆动腿的运动意图并驱动外骨骼髋、膝关节实现人机踝关节轨迹的跟踪，可用于下肢外骨骼摆动腿的控制.

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关键词 ：外骨骼, 运动意图, 卡尔曼滤波器, 动力学模型, PD控制器

Abstract：

An overall motion control strategy of the exoskeleton is proposed, and the motion planning and PD (proportional-derivative) control of the exoskeleton's swing leg are introduced especially. As the basis of the motion planning of exoskeleton's swing leg, the detection of human-machine posture error at ankle joint can be achieved by banding the exoskeleton and the wearer with each other at waist and ankle, thus the limitation on wearer's movement and the complexity of control system can be reduced. Correctness of the exoskeleton dynamical model which is the basis for designing the swing leg PD controller is verified with Adams and Matlab. Kalman filter adopted to predict the movement of the wearer's swing leg can improve the control accuracy under the limited sampling frequency. The experiment results indicate that this method can efficiently identify the movement intention of wearer's swing leg, and drive the exoskeleton's hip and knee joints to precisely track the wearer's ankle joint trajectory. The method can be used to control the exoskeleton's swing leg.

Key words： exoskeleton movement intention Kalman filter dynamical model PD controller

收稿日期: 2014-12-03 录用日期: 2015-05-26

TP242.3

基金资助:

江苏省普通高校研究生科研创新计划(CX10B-063Z,CXZZ_0140);国家自然科学基金青年基金(51205182);江苏省自然科学基金青年基金(BK2012474)

通讯作者: 王兴松,xswang@seu.edu.cn E-mail: xswang@seu.edu.cn

作者简介: 贾山(1983-),男,博士生.研究领域:下肢外骨骼运动学、动力学及控制.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0403 或 https://robot.sia.cn/CN/Y2015/V37/I4/403

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