下肢外骨骼双关节离合耦联驱动方法

To satisfy the design requirements of lower extremity exoskeleton on hi-efficiency and lightweight, a bio-inspired actuation model and locomotion control method for lower extremity exoskeleton based on clutchable biarticular coupling actuation will be proposed. This new model will contain biomimetic biarticular elasticity element, so that a single power source will be capable of actuating two joints in a timesharing single-joint actuation mode or in a biarticular coupling actuation mode based on the selective control of clutches. It is expect to reduce the inertia and self-weight of exoskeleton, facilitate energy efficiency and assist efficacy in the locomotion. Following points will be addressed: (1) A locomotion control method based on clutchable biarticular coupling actuation of hip and knee will be proposed; (2) A modularized modeling approach of multi-joint clutchable compliant actuators will be presented; (3) A clutchable biarticular coupling actuator for a hip-knee exoskeleton will be designed and the prototype will be built. This research has a very important scientific significance and significant social application value.

为了满足下肢外骨骼对驱动能效和结构轻量化的设计需求，计划提出一种生物启发的基于“双关节离合耦联驱动”的下肢外骨骼关节执行器控制模型及其步行控制方法。新模型具有仿生双关节弹性元素，基于选择性离合耦联控制实现单动力源对双关节的分时直驱与适时联动。期望以此减少外骨骼末端惯量与自重，提高步行驱动能效和助行功效。本研究期望达到：（1） 提出一种髋膝关节离合耦联步行控制方法；（2）提出一种多关节离合耦联柔性执行器的模块化建模方法；（3）实现一种用于髋膝外骨骼的双关节离合耦联驱动的执行器结构和试验样机。该研究具有重要的科学理论意义和重大的社会应用价值。

为了改善下肢外骨骼的人机交互舒适性与驱动能效，针对基于双关节离合耦联驱动”的下肢外骨骼关节执行器控制模型及其步行控制方法开展了研究工作，研究提出了：(1)一种基于能量分析的在线自适应步态相位识别算法，实现了步态12相位的低时滞（<100ms）、高准度 （98.7%）自适应切分，解决了离合耦联驱动的多相位切分问题，为实现动态多相位耦联驱动提供了理论基础；(2) 一种基于步态数据驱动的人机耦合动力学数值建模方法，实现了对多自由度人机交互力的快速数值估计（峰值误差小于5%），为评估外骨骼结构设计合理性和驱动方法性能的有效性提供了一种新工具。