华中科技大学学报（自然科学版）Issue(z1)：367-371,5.DOI:10.13245/j.hust.15S1087
一种踝关节行走助力外骨骼的设计
An ankle exoskeleton for walking assist
摘要
Abstract
A wearable ankle exoskeleton was presented in this paper.The exoskeleton helped to lift the heel in the powered plantarflexion phase,strengthen the push off the ground and assist walking. A motor provided the torque,and a ball screwed as a reducer outputs linear movements.The struc-ture of the exoskeleton has a band width of 9 Hz,which met the demand of walking frequencies.The exoskeleton consisted of three basic control loops:torque loop,impedance loop and position loop.A finite state controller managed the running and switching of the control loops in a walking cycle.A novel technique,series elastic actuator,was used to design the transmission device and make the exo-skeleton to be backdriveable.A simple experiment indicates that the motor can quickly rollback in case that an external force is imposed on the exoskeleton.关键词
外骨骼/踝关节/串联弹性驱动器/行走助力/控制环Key words
exoskeleton/ankle/series elastic actuator/walking assist/control cycle分类
信息技术与安全科学引用本文复制引用
向馗,易畅,尹凯阳,葛运建..一种踝关节行走助力外骨骼的设计[J].华中科技大学学报（自然科学版）,2015,(z1):367-371,5.基金项目
国家自然科学基金资助项目（61101022，61271123）． （）
