复式套索人工肌肉驱动的下肢外骨骼的运动控制  

Motion Control of a Lower-limb Exoskeleton Actuated by Compound Tendon-sheath Artificial Muscles

作　　者：张琦 田梦倩[1] 李伟强 甘振波 王兴松[1] ZHANG Qi;TIAN Mengqian;LI Weiqiang;GAN Zhenbo;WANG Xingsong(School of Mechanical Engineering,Southeast University,Nanjing 211189,China)

机构地区：[1]东南大学机械工程学院,江苏南京211189

出　　处：《机器人》2021年第2期214-223,共10页Robot

基　　金：国家自然科学基金(51575100);江苏省研究生科研与实践创新计划(KYCX18 0063);东南大学优秀博士学位论文培育基金(YBPY 1850)。

摘　　要：设计了复式套索人工肌肉驱动的下肢外骨骼系统,并研究了外骨骼关节精密运动控制问题.首先,介绍了复式套索人工肌肉驱动的下肢外骨骼系统.其次,建立了复式套索人工肌肉的传递模型,并基于拉格朗日法建立了下肢外骨骼动力学模型.然后,基于该动力学模型提出了一种滑模控制方法.进行了滑模控制与比例-微分(PD)控制外骨骼膝关节运动的对比实验,证明了该滑模控制算法具有更高的运动控制精度.最后,完成了下肢外骨骼的被动训练实验,其关节角度跟踪误差低于3.78°.A lower-limb exoskeleton system actuated by compound tendon-sheath artificial muscles is designed and its precise motion control is studied. Firstly, the lower-limb exoskeleton system actuated by compound tendon-sheath artificial muscles is introduced. A transmission model of the compound tendon-sheath artificial muscle is established, and the dynamic model of the lower-limb exoskeleton is then built using the Lagrange method. On this basis, a sliding mode control method is proposed. The motion control of the knee joint of the exoskeleton by the sliding mode control is compared with the proportional-derivative(PD) control, which proves the improved control accuracy of the sliding mode control method. Finally,the passive rehabilitation training experiment is accomplished, and the tracking error of the joint angle is less than 3.78°.

关 键 词：套索传动 人工肌肉 外骨骼 滑模控制 传递模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]