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華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (10): 38-43 DOI10.13245/j.hust.201007

欄目:機械與材料工程
康復外骨骼柔性髖關節設計與人機交互控制
叢 明 , 馬鴻江 , 劉 冬 , 張佳琦
大連理工大學機械工程學院,遼寧 大連 116024
摘要 針對患者髖關節運動康復治療過程中,輔助力不能隨人體下肢參數實時調整的問題,提出了基于摩擦力補償和模糊阻抗控制的人機交互控制方法.基于髖關節生物學基礎進行仿生機構設計,并且為避免人體下肢阻抗參數對柔性髖關節輸出的影響,進行人機系統動力學建模.基于擴展卡爾曼濾波進行電機內部摩擦力補償,減小摩擦力對電機輸出位置的影響.用辨識算法估計人體下肢阻抗參數,并基于模糊阻抗控制構建閉環人機交互控制器,實時調整接觸力,實現步態軌跡訓練.實驗驗證了康復外骨骼柔性髖關節設計的合理性和人機交互控制器方法的有效性.
關鍵詞 人機交互控制 ;串聯彈性驅動 ;康復外骨骼 ;柔性髖關節 ;摩擦補償
Design and human-robot interaction control of rehabilitation exoskeleton compliant hip joint
CONG Ming , MA Hongjiang , LIU Dong , ZHANG Jiaqi
School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,Liaoning China
Abstract To solve the problem that the auxiliary force cannot be adjusted in real-time with the parameters of the lower limbs of the human body during the rehabilitation treatment of hip joint motion,a human-robot interaction control method based on friction compensation and fuzzy impedance control was proposed.The design of the bionic mechanism was based on the biological basis of the human hip joint,and to avoid the influence of the impedance parameters of the human lower limb on the output of the compliant hip joint,the dynamic modeling of the human-robot system was carried out.Based on the EKF (extended Kalman filter),the internal friction of the motor was compensated to reduce the friction influence on the motor output position.An identification algorithm was used to estimate the impedance parameters of the human lower limbs,a closed-loop human-robot interaction controller was constructed based on fuzzy impedance control,and the contact force was adjusted in real-time to achieve gait trajectory training.The experiment verified the rationality of the design of the rehabilitation exoskeleton compliant hip joint and the effectiveness of the human-robot interaction controller method.
Keywords human-robot interaction contro ; series elastic actuators ; rehabilitation exoskeleton ; compliant hip joint ; friction compensation
基金資助國家自然科學基金資助項目(51575078)

中圖分類號TP242
文獻標志碼A
文章編號1671-4512(2020)10-0038-06
參考文獻
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文獻來源
叢 明, 馬鴻江, 劉 冬, 張佳琦. 康復外骨骼柔性髖關節設計與人機交互控制[J]. 華中科技大學學報(自然科學版), 2020, 48(10): 38-43
DOI:10.13245/j.hust.201007
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