[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):69-74.
　ZENG Cheng,XU Sen,DING Ye.Design and Control of a Lower Limb Exoskeleton Robot[J].Machinery & Electronics,2022,(07):69-74.
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行走助力型下肢外骨骼机器人的设计与控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年07期
页码:
69-74
栏目:
智能工程
出版日期:
2022-07-28

文章信息/Info

Title:
Design and Control of a Lower Limb Exoskeleton Robot
文章编号:
1001-2257 ( 2022 ) 07-0069-06
作者:
曾 城; 许 森; 丁 烨
上海交通大学机械与动力工程学院,上海200240
Author(s):
ZENG Cheng ;  XU Sen ;  DING Ye
( School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai 200240 , China )
关键词:
下肢外骨骼; 助力; 模块化结构设计; 控制模式
Keywords:
lower limb exoskeleton ;  assistance ;  modular design ;  control mode
分类号:
TP242
文献标志码:
A
摘要:
针对行走助力需求,通过对人体下肢结构与运动特征进行分析,采用模块化的方法设计了一款下肢助力外骨骼机器人。考虑不同场景穿戴者的运动特点,基于该系统设计了主动助力与随动跟踪 2 种控制模式。行走实验表明,该下肢外骨骼机器人既可以实现负重助行的功能,也能对目标关节轨迹进行快速的跟踪而不阻碍穿戴者的正常运动。
Abstract:
Based on the analysis of the structure and gait characteristics of human lower limbs , an assistive lower limb exoskeleton robot was designed throughmodular method to assist people walking.Two control modes : active assistance mode and motion-following mode were designed based on the system according to the gait characteristics of the wearer in different scenarios , two control modes , active assistance mode and motion-following mode , were designed based on the system.The experiment shows that the lower limb exoskeleton robot can not only assist walking , but also follow the target joint trajectory quickly without impeding the movement of the wearer.

参考文献/References:

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相似文献/References:

[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.
　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,(07):71.

备注/Memo

备注/Memo:
收稿日期: 2021-12-17
基金项目:国家自然科学基金资助项目( 91948302 )
作者简介:曾 城( 1997- ),男,广东潮州人,硕士研究生,研究方向为机器人技术;许 森 ( 1996- ),男,福建福州人,博士研究生,研究方向为机器人技术;丁 烨 ( 1982- ),男,江苏丹阳人,博士,教授,博士研究生导师,研究方向为机器人学与智能加工技术。
更新日期/Last Update: 2022-08-25