主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估

doi:10.3901/JME.2022.21.027

机械工程学报 ›› 2022, Vol. 58 ›› Issue (21): 27-37.doi: 10.3901/JME.2022.21.027

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主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估

袁小庆, 姬俊杰, 刘宇轩, 周彤, 王文东

西北工业大学机电学院西安 710072

收稿日期:2021-11-19 修回日期:2022-08-16 出版日期:2022-11-05 发布日期:2022-12-23
通讯作者: 袁小庆(通信作者),男,1979年出生,博士,教授,硕士研究生导师。主要研究方向为外骨骼机器人与人机协同控制方法。E-mail:yuan@nwpu.edu.cn
作者简介:王文东,男,1984年出生,博士,副教授,硕士研究生导师。主要研究方向为康复外骨骼机器人、人机交互系统、柔顺控制方法。E-mail:wdwang@nwpu.edu.cn
基金资助:
陕西省自然科学基础研究资助项目（2018JM5107，2020JM-131）。

Design and Performance Evaluation of Active-passive Integrated Exoskeleton Robot with Upper and Lower Limbs

YUAN Xiaoqing, JI Junjie, LIU Yuxuan, ZHOU Tong, WANG Wendong

School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072

Received:2021-11-19 Revised:2022-08-16 Online:2022-11-05 Published:2022-12-23

摘要/Abstract

摘要： 针对上肢外骨骼机器人对使用者腰背产生过重负荷的问题，设计了一种主被动结合的上下肢一体化助力外骨骼机器人，利用无源下肢外骨骼来承担部分负荷。基于助力外骨骼应用场景和人体结构特征分析，建立外骨骼机器人的机械结构模型，完成运动学仿真分析，验证了模型的合理性。为解决外骨骼机器人效能评估问题，提出一种模糊综合评估模型，详细介绍了外骨骼机器人的效能评估方法，评估结果为性能良好。研制外骨骼机器人样机，搭建总体控制系统，开展助力性能和负重性能测试实验。实验结果表明，所设计的上下肢一体化助力外骨骼机器人可承受20 kg的负载且对穿戴者提供一定的助力效果。所提出的模糊综合评估模型，为外骨骼机器人的优化设计提供了方向和理论依据。

关键词: 助力外骨骼机器人, 上下肢一体化, 结构设计, 效能评估

Abstract: Aiming at the problem that the upper limb exoskeleton robot has heavy load on the user's waist and back, an upper and lower limb integrated power exoskeleton robot with active and passive combination is designed, and the passive lower limb exoskeleton is used to bear part of the load. Based on the analysis of the application scenarios of the powered exoskeleton and the structural characteristics of the human body, the mechanical structure model of the exoskeleton robot is established, and the kinematics simulation analysis is completed to verify the rationality of the model. In order to solve the efficiency evaluation of exoskeleton robot, a fuzzy comprehensive evaluation model is proposed. The efficiency evaluation method of exoskeleton robot is introduced in detail, and the evaluation result is excellent. The prototype of the exoskeleton robot is developed, the overall control system is built, and the test experiments of power assist performance and load-bearing performance are carried out. The experimental results show that the designed upper and lower limb integrated power exoskeleton robot can bear a load of 20 kg and has a certain power assist effect for wearers. The proposed fuzzy comprehensive evaluation model provides direction and theoretical basis for the optimal design of exoskeleton robot.

Key words: powered exoskeleton robot, integration of upper and lower limbs, structural design, effectiveness evaluation

中图分类号:

TG156

袁小庆, 姬俊杰, 刘宇轩, 周彤, 王文东. 主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估[J]. 机械工程学报, 2022, 58(21): 27-37.

YUAN Xiaoqing, JI Junjie, LIU Yuxuan, ZHOU Tong, WANG Wendong. Design and Performance Evaluation of Active-passive Integrated Exoskeleton Robot with Upper and Lower Limbs[J]. Journal of Mechanical Engineering, 2022, 58(21): 27-37.

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主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估

Design and Performance Evaluation of Active-passive Integrated Exoskeleton Robot with Upper and Lower Limbs

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