一种可穿戴式髋关节外骨骼的设计与仿真  

Design and Simulation of a Wearable Assistive Hip Exoskeleton

作　　者：莫敦成 王建生 王宏民 MO Duncheng;WANG Jiansheng;WANG Hongmin(Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen 529000,China)

机构地区：[1]五邑大学智能制造学部,广东江门529000

出　　处：《机械工程师》2024年第10期78-83,共6页Mechanical Engineer

基　　金：港澳联合基金“可穿戴外骨骼康复机器人关键技术研究”(2021WGALH18);广东省自然科学基金“工业机器人多机协同焊接轨迹规划与控制技术研究”(2021ZDX1086);江门市自然科学基金“三机器人协同焊接路径轨迹规划”(202103010103260007341)。

摘　　要：为增强下肢外骨骼机器人在医疗方面的康复效果,通过研究人体运动机理及人体髋关节运动数据,设计了一款基于电动机驱动的髋关节外骨骼机器人。首先,对髋关节外骨骼进行结构设计,并建立髋关节外骨骼动力学模型;其次,基于经典PID控制,提出了一种基于改进单神经元的PID控制器;最后,在MATLAB/Simulink环境下搭建控制模型并进行仿真实验。仿真结果表明,该控制系统能够使髋关节外骨骼实现良好的跟随效果,提高运动的柔顺性,具有一定的研究意义。In order to enhance the rehabilitation effect of lower limb exoskeleton robot in medical treatment,this paper designs a motor-driven hip exoskeleton robot by studying the human motion mechanism and human hip joint motion data.Firstly,the structural design of the hip exoskeleton is carried out and the hip exoskeleton dynamics model is established.Secondly,based on the classical PID control,a PID controller based on improved single neuron is proposed.Finally,the control model is built and simulation experiments are carried out in MATLAB/Simulink environment.The simulation results show that the control system can make the hip exoskeleton achieve good following effect and improve the flexibility of motion,which has certain research significance.

关 键 词：下肢外骨骼 结构设计 髋关节 改进单神经元的PID控制 模拟仿真 

分 类 号：TH113.22[机械工程—机械设计及理论]