基于人机工程学的下肢外骨骼运动控制  

Motion control of lower limb exoskeleton based on ergonomics

作　　者：包泓[1] 吴万毅 刘芳华[1] 邵佳伟 孙天圣 狄澄 王政 BAO Hong;WU Wanyi;LIU Fanghua;SHAO Jiawei;SUN Tiansheng;DI Cheng;WANG Zheng(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学机械工程学院,镇江212100

出　　处：《江苏科技大学学报（自然科学版）》2024年第2期41-46,共6页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学基金项目(51905228)。

摘　　要：为避免外骨骼机器人髋关节和膝关节尺寸影响患者正常行走功能的恢复,踝尺寸对脚落地姿态的影响,提出一种基于人机工程学的外骨骼机器人运动控制方法.首先利用人机工程学对人体的参数进行收集,并以此构建适合人体尺寸、具有舒适穿戴的外骨骼模型架构,使外骨骼机器人满足穿戴人群差异化的需求;然后所构建的下肢外骨骼架构,建立外骨骼下肢末端的位姿并构建单肢三自由度机械腿的正向运动学方程,通过对机器人的步行计划,外骨骼机器人的实际步行过程由ADAMS进行模拟,验证人体行走时两腿各关节扭矩的变化规律;最后为了验证该方法在关节速度控制中的优越性和有效性,选择模糊PID进行控制.In order to avoid the impact of the size of the exoskeleton robot′s hip and knee joints on the recovery of human normal walking function,and the influence of the size of the ankle on the landing posture of the foot,a motion control method of the exoskeleton robot based on ergonomics is proposed.Firstly,while reducing the complexity of the mechanism,ergonomics is used to collect the parameters of the human body and to build an exoskeleton model architecture suitable for human body size and comfortable to wear,so that the exoskeleton robot can meet the differentiated needs of wearers.Then,the posture of the lower extremity of the exoskeleton is established and the forward kinematics equation of the single limb three degree of freedom mechanical leg is constructed.Through the walking plan of the robot,the actual walking process of the exoskeleton robot is simulated by ADAMS to verify the variation law of the torque of each joint of the two legs when the human body walks.Finally,in order to verify the superiority and effectiveness of this method in joint speed control,fuzzy PID is selected for control.

关 键 词：人机工程 下肢外骨骼机器人 运功控制 模糊PID 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程] TP242.6[自动化与计算机技术—控制科学与工程]