一种助力髋关节伸展和屈曲的柔性外骨骼机器人  

A Flexible Exoskeleton Robot for Assisting Both Hip Joint Extension and Flexion

作　　者：刘友福 卢军[1] Liu Youfu;Lu Jun(College of Mechanical&Electrical Engineering,Shaanxi University of Science and Technology,X′ian 710021,China;Shenzhen Institutes of Advanced Technology,Chinese Academy of Science,Shenzhen 518055,China)

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《机械传动》2021年第2期90-96,共7页Journal of Mechanical Transmission

基　　金：广东省基础与应用基础研究基金(2019A1515110576)。

摘　　要：随着下肢外骨骼机器人的发展,出现了各种各样应用于医疗康复等领域的刚性外骨骼。刚性外骨骼会增加下肢额外的惯性力并限制人体运动的自由度;与刚性外骨骼相比,柔性可穿戴下肢外骨骼则可将一些对人体运动的影响因素减至最小。根据人体在行走过程中髋关节动力学变化,设计了一种为髋关节伸展和屈曲提供助力的柔性外骨骼。根据髋关节的关节力矩和关节力的变化,提出了一种助力策略和期望助力曲线控制电机追踪期望力曲线,从而得到实际作用于髋关节的实际力。为了减少由佩戴位置和穿戴者身材特征而引起的误差,提升助力效果,引入了PD型迭代学习控制(ILC)。为了评估助力效果,测量了4名受试者分别在穿戴外骨骼不助力、助力髋关节伸展和屈曲以及仅助力髋关节伸展3种不同情况下产生的新陈代谢能;通过产生的新陈代谢能的值来评估助力效果。结果表明,与仅辅助髋关节伸展和穿着外骨骼不助力的情况相比,助力髋关节伸展和屈曲的平均净新陈代谢能分别减少了0.445 W/kg和1.027 W/kg,平均净新陈代谢率分别降低了7.45%和15.67%。With growing of lower limb exoskeleton robots,large variety of rigid exoskeletons are designed for medical rehabilitation and the other purposes.Compared with the rigid exoskeletons,which added extra inertial to low limb and restricted wearer movement,but the flexible wearable lower extremity exoskeleton minimizes the impact of these factors on the human body locomotion.An exoskeleton that provides assistive force for both hip joint extension and flexion is designed through the variation in hip joint dynamics during strides.Based on the change of hip joint moment,an assistance strategy desired force curve is proposed.In order to obtain the actual force acting on the hip joint,motor is controlled to track the desired force curve PD type iterative learning control(ILC)method is introduced to reduce the error caused by wearing position and biological characteristics to improve assistance performance.In order to evaluate assistance performance,the metabolism of four subjects wearing exoskeleton in the situations of that without assistance,assisting both hip extension and hip flexion,and assisting hip extension respectively is measured.The assistant effect is evaluated through the metabolism.Compared with assisting hip joint extension only and wearing exoskeleton with no assistance,results indicate that the decrease in average net metabolism of assisting both hip joint extension and flexion is 0.445 W/kg and 1.027 W/kg respectively,corresponding to the average net metabolism rate decrease is 7.45%and 15.67%.

关 键 词：柔性外骨骼 髋关节助力 力曲线 ILC控制 新陈代谢 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]