蹲起时助力外骨骼驱动及人机耦合作用驱动补偿

doi:10.13973/j.cnki.robot.2017.0514

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张铭奎, 程文明, 李怀仙. 蹲起时助力外骨骼驱动及人机耦合作用驱动补偿[J]. 机器人, 2017, 39(4): 514-522.DOI: 10.13973/j.cnki.robot.2017.0514. ZHANG Mingkui, CHENG Wenming, LI Huaixian. Drive of the Powered Exoskeleton and Driving Compensation with the Human-Machine Coupling Interaction While Squatting. ROBOT, 2017, 39(4): 514-522. DOI: 10.13973/j.cnki.robot.2017.0514.

摘要针对由于关节驱动特性不明而造成助力外骨骼蹲起不顺畅的问题，为增强人机交互性及助力外骨骼蹲起可靠性，对蹲起时助力外骨骼的关节驱动及人机耦合作用下的关节驱动补偿进行了研究．通过人体数据采集实验及非线性数据拟合，得到各关节运动学方程．建立了蹲起时的人机耦合动力学模型，研究了关节驱动特征，发现膝关节的驱动特征及其波动性远大于踝关节和髋关节；膝关节驱动力矩与角加速度耦合性强；只在蹲起前半段，系统重心迁移对膝关节驱动有较大影响．根据关节驱动特征的研究结果，膝关节采用双作用线性液压缸进行驱动，与此同时人机耦合作用力可以补偿踝关节部分驱动力矩及髋关节全部驱动力矩．

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关键词 ：蹲起, 助力外骨骼, 人机耦合作用, 驱动补偿, 双作用线性液压缸

Abstract：For the existing problem that the powered exoskeleton can't squat smoothly due to unclear characteristics of the joint drive, the joint drive of the powered exoskeleton while squatting and its compensation with the human-machine coupling interaction are investigated to enhance squatting reliability and human-machine interactivity. The kinematic equations of all joints are obtained through a somatic data acquisition experiment and nonlinear data-fitting. A human-machine coupling dynamic model during squatting is established, and the driving features of all joints are analyzed. It is found that the driving features and their volatility at knee joint are significantly greater than those at ankle and hip joints, there is a strong coupling between the driving torque and the angular acceleration at knee joint, and the system centrobaric displacement has significant influence on the drive at knee joint only in the first half phase of squatting. These analyses on the joint driving features show that the double-acting linear hydraulic cylinder can be used to drive the knee joint, and the human-machine interaction force can compensate the partial driving torque at ankle joint and the whole driving torque at hip joint.

Key words： squatting powered exoskeleton human-machine coupling interaction driving compensation double-acting linear hydraulic cylinder

收稿日期: 2017-03-24 录用日期: 2017-05-28

:	TH112
	TP24

基金资助:国家自然科学基金（51175442）；教育部装备预先研究项目（62501040308）

通讯作者: 程文明,E-mail:wmcheng@home.swjtu.edu.cn E-mail: wmcheng@home.swjtu.edu.cn

作者简介: 张铭奎(1984-),男,博士生.研究领域:助力外骨骼系统设计及动力学.
程文明(1963-),男,博士,教授,博士生导师.研究领域:机电一体化,智能优化及动态仿真.
李怀仙(1980-),女,博士生.研究领域:人工智能及人机交互技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0514 或 https://robot.sia.cn/CN/Y2017/V39/I4/514

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