下肢外骨骼助力机器人的设计与跟随控制研究  

Research on design and follow-up control of lower extremity exoskeleton booster robot

作　　者：周伟杰 韩亚丽[1] 朱松青[1] 李沈炎 周一鸣 Zhou Weijie;Han Yali;Zhu Songqing;Li Shenyan;Zhou Yiming(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,南京211167

出　　处：《现代制造工程》2020年第3期47-53,共7页Modern Manufacturing Engineering

基　　金：国家自然基金资助项目(51205182);江苏省研究生科研与实践创新计划项目(SJCX18_0585);江苏省六大人才高峰资助项目(JXQC-015)。

摘　　要：下肢外骨骼是一种平行穿戴于人体下肢外侧的装置,为了应对人体康复训练等问题,对下肢外骨骼进行基本结构设计。将人体下肢步态周期分为单腿支撑和双腿支撑两种行走模式,分别进行了下肢外骨骼的动力学理论计算,计算出关节力矩。设计了外骨骼PD闭环控制系统,并基于外骨骼动力学模型对控制系统进行仿真试验,验证了算法和动力学模型满足实验需求。同时也通过下肢外骨骼样机实验验证了下肢外骨骼具有较好的跟随效果,证明了设计机构的合理性,达到助力和机构设计的初始目的,为后期研究下肢外骨骼的运动控制提供了数据支持与理论基础。The lower extremity exoskeleton is a device that is worn in parallel on the outside of the lower limbs of the human body.In order to cope with human rehabilitation training and other issues,the basic structural design of the lower extremity exoskeleton was carried out.The gait cycle of the lower limbs of the human body was divided into two walking modes:single leg support and two leg support.The dynamics theoretical calculation of the lower extremity exoskeleton was carried out,and the joint torque was calculated.The exoskeleton PD closed-loop control system was designed,and the control system was simulated based on the exoskeleton dynamics model.It was verified that the algorithm and dynamic model meet the experimental requirements.At the same time,the lower extremity exoskeleton prototype experiment has proved that the lower extremity exoskeleton has a good follow-up effect,which proved the rationality of the design mechanism and achieved the initial purpose of power assist and mechanism design.The data support and theoretical basis were provided for the later study of the movement control of the lower extremity exoskeleton.

关 键 词：下肢外骨骼 结构设计 动力学计算 仿真分析 跟随控制 

分 类 号：TH39[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]