[1]郭 伟,杨丛为,邓 静,等.外骨骼机器人系统中人体下肢关节力矩动态解算[J].机械与电子,2015,(10):71-75.
　GUO Wei,YANG Congwei,DENG Jing,et al.Dynamic Solution of the Lower Extremity Joint Torques in Man-machine System of Lower Extremity Exoskeleton[J].Machinery & Electronics,2015,(10):71-75.
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外骨骼机器人系统中人体下肢关节力矩动态解算
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年10期
页码:
71-75
栏目:
智能工程
出版日期:
2015-10-25

文章信息/Info

Title:
Dynamic Solution of the Lower Extremity Joint Torques in Man-machine System of Lower Extremity Exoskeleton
文章编号:
1001-2257(2015)10-0071-05
作者:
郭 伟; 杨丛为; 邓 静; 查富生
(哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001)
Author(s):
GUO Wei; YANG Congwei; DENG Jing; ZHA Fusheng
(State Key Laboratory of Robotic and System,Harbin Institute of Technology,Harbin 150001,China)
关键词:
下肢外骨骼;  关节力矩;  动力学;  Matlab/Simulink
Keywords:
lower extremity exoskeleton;  joints torque;  dynamics;  Matlab/Simulink
分类号:
TP242.3
文献标志码:
A
摘要:
利用下肢外骨骼关节位移传感器及惯性导航单元采集人体运动信息,计算获得下肢髋、膝关节的相对角度以及躯干的姿态和加速度,通过动力学逆解实时解算穿戴者运动所需的关节驱动力矩。在此过程中,利用人体五杆模型,对人体下肢的运动进行了运动学和动力学分析,通过Matlab/Simulink软件编程求解,得到了人体下肢关节在连续步态周期内关节力矩的变化,通过对比计算获得的支撑踝关节力矩值与足底力传感器实测值,证明了关节力矩求解方法的正确性,保障了外骨骼机器人能够根据此力矩对穿戴者提供助力。
Abstract:
The method uses joint displacement sensors and inertial navigation unit on lower extremity exoskeleton to collect human motion information. Gets the relative angle of hip,knee and the posture and acceleration of torso. With inverse dynamics real-time calculating the joint driving torque of the wearers. In the procedure,with the 5-bar human model the kinematics and dynamics of human limb's movement were analyzed. By Matlab / Simulink programming to obtain the curve of the joint torque of human lower limb joints in successive gait cycle. In order to prove the Correctness of the result,compare the joint torque of supporting leg ankle solved by lagrange dynamics equations with the ankle torque which was calculated by the plantar force measured during the experiment,the feasibility of the solving method was proved. Exoskeleton robot assiste the wearer with the torques information.

参考文献/References:

[1] 顾文锦,朱宇光,杨智勇,等. 下肢骨骼服全过程运动控制研究[J]. 控制工程,2011,18(2):290-293.
[2] 郝智秀,周吉彬,金德闻,等. 不同足地界面对人体三维步态的影响[J]. 清华大学学报(自然科学版),2006,46(8):1388-1392.
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[7] Racine J L.Control of a lower extremity exoskeleton for human performance amplification [D].Berkeley:University of California,Berkeley,2003.
[8] 刘静民. 中国成年人人体惯性参数国家标准的制定 [D]. 北京:北京体育大学,2004.
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[10] Andrew Chu,Kazerooni H,Adam Zoss. On the biomimetic design of the berkeley lower extremity exoskeleton(BLEEX)[C]//International Conference on Robotics and Automation,Barcelona,Spain,2005.

相似文献/References:

[1]曾 城,许 森,丁 烨.行走助力型下肢外骨骼机器人的设计与控制[J].机械与电子,2022,(07):69.
　ZENG Cheng,XU Sen,DING Ye.Design and Control of a Lower Limb Exoskeleton Robot[J].Machinery & Electronics,2022,(10):69.

备注/Memo

备注/Memo:
收稿日期:2015-05-21
作者简介:郭 伟(1965-),女,黑龙江哈尔滨人,教授,研究方向为微小型及仿生足式机器人; 杨丛为(1991-),男,安徽涡阳人,硕士研究生,研究方向为外骨骼机器人。
更新日期/Last Update: 2019-10-25