穿戴式髋部外骨骼机构创成及辅助行走平衡控制研究  

Mechanical design and assistive balance walking control of the wearable hip exoskeleton

作　　者：冯凯祥 张庭 Feng Kaixiang;Zhang Ting(College of Mechanical and Electrical Engineering,Soochow University,Jiangsu Suzhou,215137,China)

机构地区：[1]苏州大学机电工程学院,江苏苏州215137

出　　处：《机械设计与制造工程》2023年第2期14-19,共6页Machine Design and Manufacturing Engineering

基　　金：国家重点研发计划(2020YFC2007804);江苏省高等学校自然科学研究重大项目(19KJA180009);江苏省自然科学基金面上项目(BK20191424);江苏省科技前沿引领子课题资助项目(BK20192004D)。

摘　　要：针对老年人在水平地面行走过程中失衡的难题,提出了一种柔性关节驱动的四自由度髋部外骨骼机器人,以辅助老年人在行走过程中实时调节步宽、步长和步频以保持行走平衡。对髋部外骨骼辅助行走平衡控制策略进行研究,根据建立的线性倒立摆模型解算人体行走时的质心位移和速度。基于瞬时捕获点理论设计辅助行走平衡控制策略。通过人体实验验证了所设计的髋部外骨骼和辅助行走平衡控制策略的有效性。Aiming at the problem of imbalance of the elderly in the process of walking on level ground, a 4-degree-of-freedom hip exoskeleton robot with flexible drive joints is proposed. The hip exoskeleton-assisted balance walking control strategy is studied, the displacement and velocity of the center of mass of the human body during walking are calculated according to the established linear inverted pendulum model. The assistive balance walking controller is proposed based on the instantaneous capture point theory. The design of the hip exoskeleton and the proposed assistive balance walking controller are evaluated through the human experiments. The auxiliary force calculation of the human body when it is out of balance is realized through dynamic modeling.

关 键 词：髋部外骨骼 辅助行走 平衡控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]