基于人机共融的外骨骼机构构型综合及优选方法

doi:10.3901/JME.2022.11.037

机械工程学报 ›› 2022, Vol. 58 ›› Issue (11): 37-45.doi: 10.3901/JME.2022.11.037

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基于人机共融的外骨骼机构构型综合及优选方法

张立杰^1,2, 于金须^1,2, 闫建华^1,2, 杜义浩³, 谢平³, 李永泉^1,4

1. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004;
2. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004;
3. 燕山大学电气工程学院河北省智能康复及神经调控重点实验室秦皇岛 066004;
4. 燕山大学河北省并联机构与机电系统实验室秦皇岛 066004

收稿日期:2021-10-24 修回日期:2022-02-09 出版日期:2022-06-05 发布日期:2022-08-08
通讯作者: 李永泉(通信作者),男,1979年出生,副教授,博士研究生导师。主要研究方向为并联机构及机器人技术。发表论文20余篇。E-mail:lijiang197879@sina.com
作者简介:张立杰,男,1969年出生,博士,教授。主要从事机器人学、并联机构学、液压测控技术等领域的研究。E-mail:ljzhang@ysu.edu.cn;于金须,男,1994年出生,博士研究生。主要研究方向为康复机器人。E-mail:yujinxustudy@foxmail.com
基金资助:
国家自然科学基金(U20A20192)和河北省科技厅重点研发计划(21372005D)资助项目

Synthesis and Optimization Method of Exoskeleton Mechanism Based on Human-machine Fusion

ZHANG Lijie^1,2, YU Jinxu^1,2, YAN Jianhua^1,2, DU Yihao³, XIE Ping³, LI Yongquan^1,4

1. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
3. Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province, Institute of Electric Engineering, Yanshan University, Qinhuangdao 066004;
4. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004

Received:2021-10-24 Revised:2022-02-09 Online:2022-06-05 Published:2022-08-08

摘要/Abstract

摘要： 针对当前穿戴式外骨骼机构设计缺少系统流程和具体方法，且较少考虑人机共融的问题，提出了基于人机共融的外骨骼机构构型综合及优选方法。在构型综合方面，根据人机共融中穿戴性要求，构建人体肌骨构型(Musculoskeletal configuration, MC)，应用“最小闭链单元组合法”建立人机构型(Human-machine configuration, HMC)；根据人机共融中运动灵活性要求，利用“二连杆单元插入法”提升HMC自由度并进行构型变换，结合邻接矩阵和“环路顺逆标注法”建立了构型综合的数学模型；在构型优选方面，根据人机共融中人机运动一致性要求，利用复用杆和复用因子指标优选出符合自由度要求的构型。选取食指为例，建立了食指HMC并综合出15种拓扑构型，优选出自由度为3、复用因子总数为4的构型，该构型满足穿戴式外骨骼机构设计中人机共融要求，验证了上述方法的有效性。

关键词: 人机共融, 可穿戴外骨骼, 构型综合, 人机构型, 复用因子

Abstract: In view of the lack of systematic process and specific methods in the current exoskeleton mechanism design, and less consideration of human-machine fusion, a configuration synthesis and optimization method of exoskeleton mechanism based on human-machine fusion is proposed. In terms of configuration synthesis, according to the human-machine fusion requirements of wearability, build musculoskeletal configuration (MC), and establish human-machine configuration (HMC) by using the "minimum closed chain unit combination method". According to the requirements of human-machine fusion of motion flexibility, the "two-link element insertion method" is used to improve the degree of freedom of HMC and carry out configuration transformation. Combined with adjacency matrix and "loop forward and inverse labeling method", the mathematical model of configuration synthesis is established. In terms of configuration optimization, according to the requirements of man-machine motion consistency, the configuration meeting the requirements of the degree of freedom is optimized by using reuse rod and reuse factor index. Taking the index finger as an example, the index finger HMC is established and 15 topological configurations are synthesized. The configuration with 3 degrees of freedom and 4 reuse factors is optimized. The configuration meets the requirements of human-machine fusion and verifies the effectiveness of the method.

Key words: human-machine fusion, wearable exoskeleton, configuration synthesis, human-machine configuration, reusing factor

中图分类号:

TH112

张立杰, 于金须, 闫建华, 杜义浩, 谢平, 李永泉. 基于人机共融的外骨骼机构构型综合及优选方法[J]. 机械工程学报, 2022, 58(11): 37-45.

ZHANG Lijie, YU Jinxu, YAN Jianhua, DU Yihao, XIE Ping, LI Yongquan. Synthesis and Optimization Method of Exoskeleton Mechanism Based on Human-machine Fusion[J]. Journal of Mechanical Engineering, 2022, 58(11): 37-45.

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基于人机共融的外骨骼机构构型综合及优选方法

Synthesis and Optimization Method of Exoskeleton Mechanism Based on Human-machine Fusion

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