电驱动下肢辅助外骨骼的研制与分析

电驱动下肢辅助外骨骼的研制与分析(中文4100字,英文3200字)
摘要
现已研发出一种电机驱动下肢外骨骼机器人，其中只有膝关节主动运动，被弹性元件连接的其他关节则被动地驱动。本文介绍了关键的设计标准，也介绍了驱动系统的设计和计算过程。设计并应用了一种灵活的物理人机交互(pHRI)测量装置，用于检测人体运动，它包括两个力传感器和连接在连接袖口内表面的两个气囊。提出并实现了一种在线自适应pHRI最小化控制策略，以驱动机器人外骨骼系统跟踪人类肢体的运动轨迹。通过方差加权平均值(VWA)法将测量的pHRI信息融合在一起。利用pHRI和控制扭矩的均方值（MSV）来评估外骨骼的性能。为了提高舒适性和降低能耗，设计控制律时会考虑重力补偿。最后，对健康的用户进行了实验。实验结果表明，该系统能有效地帮助人们行走，并且概述的控制策略是有效和有效的。

关键词：外骨骼，pHRI测量，数据融合，pHRI最小化，自适应控制

Development and Analysis of an Electrically Actuated Lower Extremity Assistive Exoskeleton
Abstract
An electrically actuated lower extremity exoskeleton is developed, in which only the knee joint is actuated actively while other joints linked by elastic elements are actuated passively. This paper describes the critical design criteria and presents the process of design and calculation of the actuation system. A flexible physical Human-Robot-Interaction (pHRI) measurement device is designed and applied to detect the human movement, which comprises two force sensors and two gasbags attached to the inner surface of the connection cuff. An online adaptive pHRI minimization control strategy is proposed and implemented to drive the robotic exoskeleton system to follow the motion trajectory of human limb. The measured pHRI information is fused by the Variance Weighted Average (VWA) method. The Mean Square Values (MSV) of pHRI and control torque are utilized to evaluate the performance of the exoskeleton. To improve the comfort level and reduce energy consumption, the gravity compensation is taken into consideration when the control law is designed. Finally, practical experiments are performed on healthy users. Experimental results show that the proposed system can assist people to walk and the outlined control strategy is valid and effective.

Keywords: exoskeleton, pHRI measurement, data fusion, pHRI minimization, adaptive control