液压驱动下肢外骨骼系统设计与控制研究  

Design and Control of Lower Extremity Exoskeleton System Driven by Hydraulic System

作　　者：孙翰 韩亚丽[1] 李沈炎 史传棋 SUN Han;HAN Ya-li;LI Shen-yan;SHI Chuan-qi(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing,Jiangsu 211167)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《液压与气动》2022年第9期30-37,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金青年基金(51205182);江苏省重点研发计划(社会发展项目)(BE2019724)。

摘　　要：研究基于液压驱动的下肢外骨骼机器人,旨在实现人体下肢的运动康复。设计结构紧凑型液压驱动下肢外骨骼整体机构。建立了下肢外骨骼多连杆机构模型,基于拉格朗日法对模型进行动力学分析。针对下肢外骨骼的快速随动控制提出了一种滑模控制器,并运用MATLAB进行了控制仿真模拟,仿真结果表明,外骨骼采用该控制算法具备良好的跟踪效果。搭建了外骨骼系统软硬件平台,通过预设步态跟踪控制实验,验证了机构的合理性与控制算法的有效性。In order to realize the motion rehabilitation of human lower limbs, a lower limb exoskeleton robot based on hydraulic was studied. A compact lower limb exoskeleton integral mechanism was designed. The mechanism model of the exoskeleton was established, and the dynamics of the model was analyzed based on Lagrange method. A sliding mode controller was proposed, and the control simulation was carried out by MATLAB. The simulation results show that the exoskeleton has good performance. The software and hardware platform of the exoskeleton system was built, and the preset gait tracking control experiment verified the rationality of the mechanism and the effectiveness of the control algorithm.

关 键 词：下肢外骨骼 液压驱动 滑模控制 

分 类 号：TH137[机械工程—机械制造及自动化] TH162[金属学及工艺—金属切削加工及机床] TG506