可穿戴式膝关节力反馈外骨骼助力系统研究  

Research on Wearable Knee Force Feedback Exoskeleton Assist System

作　　者：畅辉 梁义维 CHANG Hui;LIANG Yiwei(College of Mechanical and Transport Engineering Taiyuan University of Technology,Shangxi Taiyuan 030002,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030002

出　　处：《机械设计与制造》2025年第4期348-354,共7页Machinery Design & Manufacture

基　　金：山西省重点研发计划项目—矿用主从动混合外骨骼机器人的研究与开发(201803D121013)。

摘　　要：针对膝关节受损患者行走不便的问题,提出一种可穿戴式膝关节力反馈外骨骼助力装置,用于实现膝关节受损患者运动过程中减小膝关节扭矩和行走助力的功能。通过分析人体膝关节运动特点,设计外骨骼的动力驱动系统及运动意图检测系统,建立膝关节外骨骼动态线性化控制模型并确定PID控制策略,基于adams软件和matlab/simulink软件对人体和外骨骼模型的运动进行联合仿真;进行了膝关节外骨骼样机的人体穿戴试验的试验验证。结果表明:在运动过程中,所设计的膝关节外骨骼装置可以适应穿戴者膝关节的运动特性,在上楼梯、原地蹲起、下楼梯和走平路四种步态中,能够分别为穿戴者提供人体膝关节峰值扭矩的26.6%、30.7%、28.0%和31.0%的助力扭矩,外骨骼助力装置从静止到稳定助力动态调整时间为(0.025~0.037)s,受试者主观体验穿戴舒适,运动流畅。Aiming at the problem of inconvenient walking in patients with knee joint injury,a wearable knee joint force feedback exoskeleton assist device was proposed to achieve the function of reducing knee joint torque and assisting walking during the move⁃ment of patients with knee joint injury.By analyzing the motion characteristics of human knee joint,the dynamic driving system and motion intention detection system of exoskeleton are designed,the dynamic linearization control model of knee exoskeleton is established,and the PID control strategy is determined.The motion of human body and exoskeleton model is jointly simulated based on ADAMS software and MATLAB/Simulink software.The experimental verification of human wearing test of knee exoskel⁃eton prototype is carried out.The results show that the designed knee exoskeleton can adapt to the motion characteristics of the wearer's knee joint in the process of movement and can provide 26.6,30.7,28.0 and 31.0%of the peak torque of the wearer’s knee joint respectively in four gait modes:walking up stairs,squatting in place,walking down stairs and walking flat road.The dy⁃namic adjustment time of exoskeleton assist device from static to stable assist is(0.025~0.037)s.The subjects subjectively experi⁃ence comfortable wearing and smooth movement.

关 键 词：膝关节 外骨骼 PID算法 助力扭矩 力反馈 机电仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH39