基于气动肌肉驱动的下肢康复机器人设计与仿真  

Design and Simulation of Lower Limb Rehabilitation Robot Driven by Pneumatic Muscle

作　　者：童火明 李肖 陈诚[2] 陈永广 TONG Huoming;LI Xiao;CHEN Cheng;CHEN Yongguang(School of Mechanical Engineering,Hubei University of Technology,Wuhan Hubei 430068,China;School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan Hubei 430074,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]华中科技大学人工智能与自动化学院,湖北武汉430074

出　　处：《机床与液压》2023年第19期99-105,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(52005169)。

摘　　要：为实现气动肌肉在多自由度康复机器人中的应用,设计一种用于步态康复训练二自由度下肢康复辅助训练机器人,驱动器由气动肌肉和拉伸弹簧并联驱动关节以实现节能辅助行走。建立人体下肢运动学和动力学模型,并以标准CGA步态曲线作为关节输入,通过SolidWorks/Motion进行运动学仿真,验证所设计的模型符合人体下肢运动规律。针对气动肌肉伸展时存在非线性使得关节控制困难,提出了模糊自适应PID控制算法。在MATLAB/Simulink中进行仿真控制实验,仿真结果表明:相比传统PID算法,模糊PID自适应控制算法使外骨骼达到更好的跟随效果。最后通过实验平台验证了模糊PID自适应控制算法能够满足患者主动康复训练的需求。In order to develop the application of pneumatic muscle in multi-freedom rehabilitation robot,a 2-DOF lower limb rehabilitation auxiliary training robot was designed for gait rehabilitation training.The actuator was driven by pneumatic muscle and stretch spring in parallel to realize energy-saving assisted walking.The kinematics and dynamics models of human lower limbs were established,and the standard CGA gait curve was used as the joint input,and the kinematics simulation was carried out by SolidWorks/Motion,which verified that the designed model was consistent with the motion law of human lower limbs.Aiming at the difficulty of joint control due to nonlinearity in pneumatic muscle extension,a fuzzy adaptive PID control algorithm was proposed.MATLAB/Simulink was used to perform simulation control experiments.The simulation results show that the fuzzy PID adaptive control algorithm can achieve better following effect than the traditional PID.Finally,through the experimental platform,it is verified that the fuzzy PID adaptive control algorithm can meet the needs of patients active rehabilitation training.

关 键 词：下肢外骨骼 模糊PID控制 气动肌肉 运动学仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]