直立抗扰下踝关节外骨骼人机协作控制优化  

Optimization of ankle exoskeleton control parameters for human upright standing push-recovery

作　　者：庞牧野[1] 詹赳 唐必伟 向馗[1] PANG Muye;ZHAN Jiu;TANG Biwei;XIANG Kui(School of Automation,Wuhan University of Technology,Wuhan 430074,China)

机构地区：[1]武汉理工大学自动化学院,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2023年第2期95-101,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金青年基金资助项目(61603284,61903286)。

摘　　要：针对直立抗扰下穿戴者肌肉活动和外骨骼助力间的适应问题,提出了一种踝关节外骨骼人机协作控制参数的“人在环”优化方法.该方法将穿戴者下肢肌肉激活量作为评估人机协作适应度的指标,建立优化目标函数.在外骨骼工作过程中,使用分段阻抗控制算法计算输出力矩;采用贝叶斯优化算法,根据计算出的目标函数值进行优化,获得最佳的阻抗控制参数,实现直立抗扰下外骨骼人机协作最优控制.实验表明:该方法可以有效降低穿戴者下肢肌肉激活程度,减少穿戴者踝关节动作力矩,完成直立抗扰任务,对穿戴者有积极的辅助作用,研究结果为外骨骼人机协作控制的优化提供了一种通用的解决方法.A human-in-the-loop optimization method of ankle exoskeleton control parameters for human upright standing pushrecovery was proposed to address the adaptation problem between the wearer and the exoskeleton during human-machine collaboration.This optimization method selects wearer’s lower limb muscle activation,as an index of the fitness of human-machine collaboration,to establish the target function within the framework of human-in-the-loop optimization. In the process of human upright disturbance rejection,the impedance control algorithm was selected to calculate the output torque,and the Bayesian optimization algorithm was used to optimize according to the calculated objective function value to obtain the best impedance control parameters,so as to realize the optimal control of human-computer cooperation of exoskeleton under upright disturbance rejection.The experimental results demonstrate that the proposed optimization method could effectively reduce the wearer’s lower limb muscle activation during human upright standing push-recovery.In addition,t also reduces the wearer’s ankle moment when in use.There is a clear and positive auxiliary effect on the wearer,which provides a common solution for the study of the human-machine collaboration.

关 键 词：踝关节外骨骼 人机协作 阻抗控制 直立抗扰 人在回路 贝叶斯优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]