穿戴式步行辅助机器人控制方法研究进展  

Research advances in control methods of wearable walking assist robots

作　　者：张霞[1] 钱蕾[1] 马文涛[1] 罗天洪[1] 

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《河北科技大学学报》2016年第2期118-123,共6页Journal of Hebei University of Science and Technology

基　　金：国家自然科学基金(51505048);重庆市教委科学技术研究项目(KJ1500526)

摘　　要：随着中国人口老龄化进程的飞速演变,老年人群体利用机器人技术进行日常步行活动的需求日益增大。穿戴式步行辅助机器人根据用户体能进行主/从运动辅助(据需辅助)的功能特性与人们的生理需求相匹配,对改善机械系统的柔性、亲和力及友好感具有促进作用。针对步行运动的据需辅助问题,以实现主/从柔性辅助为目标,提出并构建一种髋关节中枢模式发生器(CPG)控制和膝关节分级阻抗控制相结合的新型Hybrid控制方法,研究主/从辅助模式决策及柔性转换机制、膝关节分级阻抗控制切换及其稳定性、以及Hybrid控制理论的据需辅助效应,为穿戴式步行辅助机器人技术的研究与发展提供新的思路。As the proportion of the elderly in China increases,the need for robotic assist walking is growing.The assisted-asneeded（AAN）property of a wearable walking assist robot matches a user＇s biological need and improves the flexibility,appetency and friendliness of a mechanical system.To realize AAN walking and aiming at realizing master/slave flexible assist,a new hybrid control method consisting of hip joint control based on central pattern generators and knee joint impedance structured control is proposed.The adaptation of a robot＇s master/slave motion mode to a user＇s physical function,the continuous switching method for knee joint impedance structured control and its stability,and the AAN effect of the Hybrid control theory are studied,which provides a new thought for the development of wearable walking assist robots.

关 键 词：机器人控制 穿戴式步行辅助 Hybrid控制 据需辅助 分级阻抗控制 CPG控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]