泵控外骨骼机器人行走协同控制策略

doi:10.3901/JME.2022.18.159

摘要/Abstract

摘要： 人机协同控制是主动式外骨骼机器人实现助力行走的关键技术之一。根据站立相是人体行走的主要发力过程和泵控驱动单元自身具备的优良反驱特性，提出一种站立相主动助力、摆动相被动跟随的外骨骼机器人行走协同控制策略。建立泵控关节的运动学与动力学模型，获得外骨骼机器人关节运动轨迹与泵控驱动单元输出力之间的动力学关系，通过外骨骼机器人背部末端的人机交互力信息实现了站立相的柔顺助力控制。在摆动相过程中，人体的摆动腿具有发力小、速度快的特点，充分利用泵控驱动单元的反驱特性，实现了外骨骼机器人摆动相的被动跟随控制。开展了泵控外骨骼机器人试验测试，结果表明提出的协同控制策略有效可行。降低了人机交互控制的难度，减少了助力行走的能量消耗。

关键词: 外骨骼机器人, 人机协同, 柔顺控制, 反驱特性, 泵控驱动

Abstract: Human-robot collaborative control is one of the key technologies for active exoskeleton robots to achieve assisted walking. Based on the excellent backdrivability of the pump-controlled drive unit, an exoskeleton robot walking coordinated control strategy with active assistance in the standing phase and passive follow-up in the swing phase is proposed. The standing phase is the main force generation process of human walking. This paper establishes the kinematics and dynamics model of pump-controlled joints and obtains the dynamic relationship between the joint motion trajectory of the exoskeleton robot and the output force of the pump-controlled drive unit. Based on the human-robot interaction force information at the end of the exoskeleton robot's back, this paper realizes the active and compliant power-assisted control of the standing phase. During the swing phase, the swinging leg of the human body has the characteristics of small force and fast speed. This paper makes full use of the backdrivability of the pump-controlled drive unit to realize the passive follow-up of the swing phase. The actual test results based on the pump-controlled exoskeleton robot show that the proposed walking cooperative control strategy is effective and feasible, which reduces the difficulty of human-robot collaborative control and the energy consumption of assisted walking.

Key words: exoskeleton robot, human-robot collaboration, compliance control, backdrivability, pump-controlled driving

中图分类号:

TH692

孙茂文, 欧阳小平, 王泽正, 刘浩, 杨华勇. 泵控外骨骼机器人行走协同控制策略[J]. 机械工程学报, 2022, 58(18): 159-169.

SUN Maowen, OUYANG Xiaoping, WANG Zezheng, LIU Hao, YANG Huayong. Cooperative Control Strategy of Pump-controlled Exoskeleton Robot Walking[J]. Journal of Mechanical Engineering, 2022, 58(18): 159-169.

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