基于阻抗的下肢康复外骨骼力与位置控制研究  

Force and position control for lower limb rehabilitation exoskeleton based on impedance

作　　者：彭二宝[1,2] 陈昌铎[2] Peng Erbao;Chen Changduo(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430000,China;Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430000 [2]河南工业职业技术学院,河南南阳473000

出　　处：《南京理工大学学报》2020年第1期21-25,共5页Journal of Nanjing University of Science and Technology

基　　金：河南省科技厅项目(142102310226);河南省教育厅科学技术研究重点项目(13B460962)

摘　　要：为了提升下肢功能损伤患者舒适性和康复效果,弥补常规位置控制的不足,研究了一种基于力与位置阻抗控制的下肢康复外骨骼。利用气体的柔顺性和安全性,采用气动比例技术,以标准步态曲线为参考,以人机交互力矩为约束,实时控制。建立人机动力学模型,搭建实验平台,实现机构仿人步态行走。实验表明,该系统控制效果好,跟踪精度高。人机交互力矩得到有效调整,进一步提升系统安全性、舒适性和稳定性。In order to improve the comfort and rehabilitation effect of patients with lower limb functional injury,and make up for the conventional position control,a lower limb rehabilitation exoskeleton based on force and position impedance control is designed.Using the flexibility and safety of gas and based on pneumatic proportional technology,it can be controlled real-time,which takes standard gait curve as reference and human-computer interaction moment as constraint.The human-machine dynamic model is established,the experimental platform was built,and the humanoid walking was realized.The experimental results show that the control effect is good,the tracking precision is high,the man-machine interaction torque is effectively adjusted,and the system safety,comfort and stability are further improved.

关 键 词：下肢康复外骨骼 力与位置控制 阻抗控制 气压驱动 仿人步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]