机器人2024，Vol.46Issue(3)：339-350,12.DOI:10.13973/j.cnki.robot.230149
并联式髋关节外骨骼设计与基于人机耦合动力学方法的系统实现
Design of a Parallel Hip Exoskeleton and Its System Implementation Based on Human-Machine Integrated Dynamics
摘要
Abstract
Misalignment between the axes of the human biological joint and the exoskeleton mechanical joint remains an open problem for serial anthropomorphic exoskeletons.To solve this problem,a hip exoskeleton with parallel structure is proposed.With the novel structure,the misalignment between the biological and mechanical joints is eliminated,and therefore the exhausting alignment process of mechanical adjustment before use.In addition,all the hip biological degrees of freedom(DoFs)can be achieved by the proposed exoskeleton,and the hip flexion/extension and abduction/adduction motion can be assisted.To address the problem of coupled actuation introduced by parallel structure,a control method based on human-machine integrated dynamic model is proposed,which enables coordinated control of branch actuators so that assistance can be delivered properly.Moreover,a physical exoskeleton prototype is built.The motion pattern of the proposed exoskeleton is verified in an experiment and the assistive performance is verified by other four experiments.The results demonstrate the kinematic compatibility of the proposed hip exoskeleton and the assistive performance of the controller.关键词
并联式外骨骼/人机耦合动力学建模/人机交互/髋关节外骨骼Key words
parallel exoskeleton/human-machine integrated dynamics modeling/human-machine interaction/hip ex-oskeleton引用本文复制引用
王向阳,陈春杰,马跃,曹武警,吴新宇..并联式髋关节外骨骼设计与基于人机耦合动力学方法的系统实现[J].机器人,2024,46(3):339-350,12.基金项目
国家自然科学基金(62303444,62125307,U2013207,U23A20344) （62303444,62125307,U2013207,U23A20344）
中国博士后科学基金(GZC20232866,2023M743691) （GZC20232866,2023M743691）
广东省自然科学基金(2021A1515011699,2023A1515011321) （2021A1515011699,2023A1515011321）
深圳市科技计划基础研究项目(基20220040) （基20220040）
深圳市医学研究专项资金(B2302002). （B2302002）
