计及穿戴不确定性与运动响应平稳性的无源膝关节外骨骼多体运动学多目标优化综合  

Synthesis of a passive knee exoskeleton through multibody kinematics optimization considering wearing uncertainties and kinematic response smoothness

作　　者：杨玉维[1,2] 李照童 李硕 李倩[1,2] 尹嘉鹏 吕兴昌 王浩宇 王巨涛[1,2] 李彬[1,2] YANG YuWei;LI ZhaoTong;LI Shuo;LI Qian;YIN JiaPeng;LYU XingChang;WANG HaoYu;WANG JuTao;&LI Bin(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《中国科学:技术科学》2025年第3期491-505,共15页Scientia Sinica(Technologica)

基　　金：国家重点研发计划(编号:2017YFB1303502);膝关节外骨骼机器人关键技术研发(编号:10101/70305901);基于数字样机技术的混联机器人集成设计方法与半物理仿真技术研究(编号:52375026)资助。

摘　　要：鉴于穿戴位置滑移、膝关节多自由度变轴线运动,以及穿戴者间肢体几何的随机差异等穿戴不确定性因素的存在,外骨骼与肢体运动将出现不同程度的不匹配,并在穿戴区域产生非期望的交互力,从而对外骨骼的人机协作性能造成不利影响.而外骨骼运动过程中的构件速度突变,也会恶化人-机协作.为此,本文首先提出一种对穿戴不确定性因素具有被动自适应包容功能的新型无源膝关节外骨骼及其穿戴并联研究原型.其次,为有效降低不确定因素对人-机协作间的影响,在系统多体运动学模型的基础上利用切比雪夫区间法构建具有多维不确定参数的系统响应区间模型,以此将现实世界中的不确定因素融入对人-机并联研究原型的具体数值分析中.再次,为有效减小外骨骼因自身构型参数设计不合理而引发其运动传输中所产生较大的速度波动,基于系统运动学模型的雅可比矩阵,提出一种新型运动学性能评价指标——运动响应平稳度,其指标数值不受肢体输入激励影响,可客观评价外骨骼自身构型参数在人-机协作中的运动平稳性.最后,利用上述模型及指标深入开展系统多体运动学多目标优化综合.结果表明,相较于单纯以响应区间极差为优化指标,运动响应平稳度的引入使得优化后的外骨骼运动学性能得到大幅提升,降低了不确定因素对系统响应的影响;同时验证了所提出方法的合理有效性.研究成果为后续系统动力学综合相关研究及实物样机研制提供理论基础与数据支撑,所提出的研究方法对其他可穿戴设备领域也具有借鉴意义.Wearing uncertainties,such as exoskeleton slippage,multidegree-of-freedom knee joint motion,and variations in body geometry,can cause mismatches between the exoskeleton and limb movements.These mismatches may result in unexpected interaction forces in the wearing area,negatively affecting human-machine collaboration.Rapid changes in the velocity of exoskeleton components can complicate interactions further.To address these issues,a passive knee exoskeleton with adaptive compensation for uncertainties has been proposed.Additionally,a response interval model with multidimensional uncertain parameters was developed using the Chebyshev interval method to enhance human-machine collaboration.This model incorporates real-world uncertainties in the analysis of a human-machine research prototype.Furthermore,a new kinematic performance metric called“kinematic response smoothness”was introduced to evaluate the smoothness of exoskeleton configuration parameters objectively.Based on the system’s velocity Jacobian matrix,this metric improves human-machine collaboration by assessing the smoothness of exoskeleton movements.Using this metric and the response interval model,a multiobjective optimization of the system’s kinematics was performed.The results demonstrated that integrating kinematic response smoothness as an optimization metric,alongside response interval range,significantly enhanced the exoskeleton’s kinematic performance after optimization.This reduced the impact of uncertainties on system response.Notably,optimizing motion smoothness,rather than solely focusing on response interval range,significantly enhanced performance.These findings validate the rationality and effectiveness of the proposed method.The study establishes a theoretical framework and provides empirical evidence to support further research on system dynamics and the development of advanced physical prototypes,with broader implications for wearable devices in diverse fields.

关 键 词：穿戴不确定性 无源膝关节外骨骼 响应区间模型 运动响应平稳度 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]