基于ZMP下肢外骨骼机器人自平衡策略  

Self Balance Strategy of Lower Limb Exoskeleton Robot Based on ZMP

作　　者：王亮 WANG Liang(Chongqing Jiaotong university,School of Mechanical and Electrical and Vehicle Engineering,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《传感器世界》2023年第9期31-37,共7页Sensor World

摘　　要：随着社会老龄化的加剧,我国脑卒中的患者不断增多,这给我们国家和社会带来了极大的负担。文章推出了一款新型助力下肢外骨骼机器人,为这些患者的康复提供可行性方案。助力型下肢外骨骼的一个关键问题是行走过程中保持步态的稳定性,防止佩戴者摔倒。文章用滑模控制的方法提出了一种下肢外骨骼的控制策略,该策略可以减少外骨骼的干扰并且保持行走的稳定性。设计了步态稳定性的评价标准,然后设计了一种基于ZMP的控制策略。实验表明,该控制策略可以有效地减少下肢外骨骼的干扰,保持佩戴者的行走稳定性。With the intensification of the aging society,the number of stroke patients in china is constantly increasing,which has brought great social burden to our country and society.The article introduces a new type of lower limb exoskeleton robot to assist in the rehabilitation of these patients,providing feasible solutions.A key issue with assisted lower limb exoskeletons is maintaining gait stability during walking to prevent the wearer from falling.The article proposes a control strategy for the lower limb exoskeleton using sliding mode control,which can reduce the interference of the exoskeleton and maintain walking stability.We designed evaluation criteria for gait stability,and then designed a control strategy based on ZMP.The final experiment shows that the control strategy can effectively reduce the interference of the lower limb exoskeleton and maintain the walking stability of the wearer.

关 键 词：下肢外骨骼机器人 零力矩点 步态规划 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]