仿人运动辅助控制方法  

A Human-imitated Movement Assist Control Method

作　　者：张霞[1] 马文涛[1] 罗天洪[1] 陈仁祥 桥本稔[2] ZHANG Xia MA Wen-tao LUO Tian-hong CHEN Ren-xiang HASHIMOTO Minoru(Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, China Robotics Institutes, Shinshu University, Nagano 386-8567, Japan)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074 [2]日本信州大学

出　　处：《控制工程》2017年第10期2032-2037,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(51505048;51305471);重庆市基础与前沿研究计划项目(cstc2016jcyj A0416);重庆市教委科学技术研究项目(KJ1500526)

摘　　要：引入仿生运动控制理论解决穿戴式机器人在运动辅助过程中的主/从运动问题,探索一种基于CPG的人机交互技术和传统控制理论相结合的新型仿人运动辅助控制方法。首先,采用中枢模式发生器CPG数学模型作为机器人的关节轨迹生成器,由CPG完成人机交互力矩和关节目标角度的输入输出变换;其次,采用PD控制实现对目标轨迹的跟踪控制。通过膝关节运动辅助实验验证了控制方法的有效性和可行性。结果表明,穿戴式辅助装置的行为模式能够进行主从运动转换;控制方法对节律运动具有明显的辅助效果;该控制方法较传统阻抗控制在协调性、辅助效果及柔性方面具有显著优越性。In order to achieve the active/passive movement of a wearable robot, a novel notion ofhuman-imitation movement assist control methodis explored combing human-robot interaction technology based on CPG with the traditional control method. First, a CPG mathematical model is used as the joint trajectory generator of an assistant device, and the CPG transforms its input signal of human-robot interaction joint torque to its output signal of the desired joint angle. Then, a PD controller determines the actual joint angle. Experiments of the knee joint movement assist are carried out to verify the validity and feasibility of the proposal. Experimental results demonstrate that a wearable assistive device is able to change between the active and passive motion mode, and the control method is assistive for rhythmic motion. Compared to the traditional impedance control, the proposed control method has significant advantages in aspects of coordination, assistive effect and flexibility.

关 键 词：穿戴式机器人 主/从运动辅助 中枢模式发生器 人机交互 

分 类 号：TH39[机械工程—机械制造及自动化]