• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (9): 38-45.doi: 10.3901/JME.2017.09.038

• • 上一篇    下一篇

步行中髋关节运动辅助的人机交流协调控制方法*

张霞, 罗天洪, 陈仁祥, 陈里里   

  1. 重庆交通大学机电与车辆工程学院 重庆 400074
  • 出版日期:2017-05-05 发布日期:2017-05-05
  • 作者简介:

    张霞(通信作者),女,1982年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人控制理论与方法、外骨骼机器人相关理论与方法。

    E-mail:zx512@126.com

  • 基金资助:
    * 国家自然科学基金(51505048)、重庆市基础与前沿研究计划(cstc2016jcyjA0416)和重庆市教委科学技术(KJ1500526)资助项目; 20160628收到初稿,20161115收到修改稿;

Human-robot Interaction-based Coordination Control for Hip Joints Motion Assist in Walking

ZHANG Xia, LUO Tianhong, CHEN Renxiang, CHEN Lili   

  1. Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074
  • Online:2017-05-05 Published:2017-05-05

摘要:

引入生物控制理论改善步行辅助中人机交互柔顺性和多关节协调自律控制的问题,探索一种以中枢模式发生器(Central pattern generator, CPG)网络为核心的、具有“对外交流、对内抑制”双重机制的人机交流协调控制方法。建立左右髋关节独立CPG单元及其对外交流机制,充分保障左右髋关节处的人机运动交流;建立CPG单元间的内部抑制机制维持髋关节间的逆相位,确保复杂多变的人机交互环境下稳定的步行辅助。穿戴式步行试验证明了该方法的有效性。

关键词: 对内抑制, 对外交流, 逆相位, 协调控制, 髋关节运动辅助

Abstract:

:In order to improve flexibility and multi-joints autonomy in walking assist, a novel notion of human-robot interaction (HRI)-based coordination control method is explored combing HRI technology based on CPGs network with dual mechanisms of “outer-interaction” and “inner-inhibition”. A CPG unit with its outer-interaction mechanism is connected to each left and right hip joint to guarantee the independent HRI occurring at each side. Mutual inner inhibitions are connected to both left and right CPGs to maintain an anti-phase relationship of the left and right hip joints, and to guarantee stable walking assist in the complicated HRI environment. The validity of the proposal is verified by wearable walking assist experiments.

Key words: anti-phase, coordination control, inner-inhibition, outer-interaction, hip joints motion assist