基于人机偏差模型的自对齐髋关节外骨骼解耦设计与计算

doi:10.13973/j.cnki.robot.2017.0627

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李怀仙, 程文明, 张铭奎. 基于人机偏差模型的自对齐髋关节外骨骼解耦设计与计算[J]. 机器人, 2017, 39(5): 627-637.DOI: 10.13973/j.cnki.robot.2017.0627. LI Huaixian, CHENG Wenming, ZHANG Mingkui. Decoupled Design and Calculation of the Self-aligned Hip Joint Exoskeletons Based on the Human-Robot Misalignment Model. ROBOT, 2017, 39(5): 627-637. DOI: 10.13973/j.cnki.robot.2017.0627.

摘要针对辅助外骨骼，分析了单自由度人机交互中的人机偏差因素，建立人机偏差变量模型，运用自对齐机构设计理论设计外骨骼机构，以提升人机耦合性能．首先，深入分析了单自由度人体生物关节，建立了人体简化模型+人机偏差变量模型的外骨骼设计模型参考．然后，运用自对齐机构设计理论和多自由度关节解耦方法，提出了自对齐人体运动的外骨骼机构设计思路与方法．最后，以下肢髋关节为对象，将髋关节外骨骼解耦为3个单自由度关节，设计了髋关节助力外骨骼的运动形式，并进行了人机耦合下的外骨骼动态静力驱动计算．结果显示，该运动设计使人机偏差交互力变得可控，从理论上证明了髋关节外骨骼机构能够跟随下肢运动并提供自适应人体的驱动助力．

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	李怀仙
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关键词 ：人机交互, 髋关节, 人机偏差, 解耦设计, 自适应

Abstract：With regard to assistive exoskeletons, the human-robot misalignment factors in 1-DOF (degree of freedom) human-robot interactions are analyzed, and a model of human-robot misalignment variables is set up. By applying the self-aligned mechanism design methods, an exoskeleton is designed to improve the performance of the human-robot couplings. Firstly, a single DOF biological joint of human body is deeply analyzed. Based on the simplified human being model and the human-robot misalignment variable model, an exoskeleton model is developed as design references. Then, with the self-aligned mechanism design theory and the multi-DOF joint decoupling methods, the fundamental design ideas and methods of an exoskeleton mechanism which is self-aligned to the human body are provided. Finally, the hip joint is taken as the case study. The hip joint is decoupled into three 1-DOF joints, the hip exoskeleton kinematics is designed, and the coupled human-robot kinetostatic actuation forces are calculated. The calculation results show that the human-robot misalignment interaction forces is controllable with the proposed design scheme. It is theoretically verified that the hip exoskeletons can follow the movements of the human lower limbs and provide the self-adaptive actuation forces for the human body.

Key words： human-robot interaction hip joint human-robot misalignment decoupled design adaptability

收稿日期: 2017-03-23 录用日期: 2017-06-20

TH122

基金资助:国家自然科学基金（51175442）；教育部“春晖计划”（Z2014036）

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

作者简介: 李怀仙(1980-),女,博士生,讲师.研究领域:外骨骼助力机器人,人-机-环境工程学,工业设计.
程文明(1962-),男,博士,教授.研究领域:起重运输机械,人因工程学,机器人,工业工程.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0627 或 https://robot.sia.cn/CN/Y2017/V39/I5/627

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