基于冲量补偿的套索驱动半主动下肢外骨骼系统研究

Based on the motion of the human lower-limb and the theory of the passive bipedal walking, a new low energy-consumption energy compensation pattern is proposed, a semi-active lower-limb exoskeleton system based on the active flexible actuation system and passive compliant actuation system is considered to meet the requirements of the lower-limb dyskinesia patients for the rehabilitation and power-assistance. According to the fast acting principle of the human muscle, a impulse compensation model consisting of the series spring, the mass, the damper and the parallel spring is proposed, the mechanism and the energy transfer characteristics of the impulse compensation system coupled the exoskeleton system are revealed. A series elastic tensioning device consisting of the spherical steel ball, conical sleeve and the recovery spring is developed to modify the hysteresis of the tendon-sheath actuation system, and the torque precise motion control of the tendon-sheath flexible actuation system is carried out by using the inverse compensation control and the internal impedance compensation control. A combination of tendon-sheath flexible active actuation system and the elastic energy storage device compliant passive actuation system is proposed, the design parameters are optimized based on the joint function and the optimal energy transfer principle. The hierarchical intelligent control strategy and the torque calculation method is adopted based on the dynamic model of the man-machine coupled system, and the exoskeleton power-assisted control experiment and the effective evaluation are conducted to fulfill the fundamental research of the man-machine communion exoskeleton system which considering the needs of light weight and small size, comfortable and security, low energy-consumption, as well as motion flexibility and coordination control.

基于人体下肢运动特性及被动双足行走理论，提出一种新型低能耗能量补偿方式，采用主动柔性驱动和被动柔顺驱动相结合的方式研究半主动下肢外骨骼系统，满足下肢运动功能障碍患者对修复和增强自身运动能力的需求。根据人体肌肉快速作用原理，提出由串联弹簧-质量块-阻尼-并联弹簧组成的冲量补偿模型，揭示关键位姿处冲量补偿系统耦合外骨骼实现机理和能量传递特性；研制由球型钢珠、锥形套和回复弹簧组成的串联弹性张紧装置改善套索传动回程迟滞，采用逆模补偿和内部阻抗补偿进行套索柔性传动系统力矩精密运动控制；提出套索柔性驱动主动关节、弹性储能装置柔顺驱动被动关节相结合的方式，依据关节联动功能和能量传递最优原则优化参数设计；基于人机耦合系统动力学模型提出以力矩计算方法为核心的分层递阶智能控制策略，进行外骨骼助力控制实验及效果评价，完成以质轻体小、舒适安全、低能耗、运动柔顺及协调控制为目标的人机共融下肢外骨骼系统的基础研究。

基于人体下肢运动特性及被动双足行走理论，提出了一种新型低能耗能量补偿方式，采用主动柔性驱动和被动柔顺驱动相结合的方式研究半主动下肢外骨骼系统，满足下肢运动功能障碍患者对修复和增强自身运动能力的需求。根据人体肌肉快速作用原理，提出由串联弹簧-质量块-阻尼-并联弹簧组成的冲量补偿模型，揭示关键位姿处冲量补偿系统耦合外骨骼实现机理和能量传递特性，并对下肢运动功能障碍患者进行了平衡能力研究为后续能量补偿方式和参数选择提供参考依据；研制了由球型钢珠、锥形套和回复弹簧组成的串联弹性张紧装置（微型可控夹头）改善套索传动回程迟滞，套索传动效率得以显著提高，并通过逆模补偿和内部阻抗补偿进行了套索柔性传动系统力矩精密运动控制，同时对张紧装置改善套索传递性能进行了研究；提出套索柔性驱动主动关节、弹性储能装置柔顺驱动被动关节相结合的方式，依据关节联动功能和能量传递最优原则优化参数设计；基于人机耦合系统动力学模型提出以力矩计算方法为核心的分层递阶智能控制策略进行了外骨骼助力控制实验及效果评价；设计了自适应模糊滑模控制器以期实现更好的关节跟踪控制效果，基本完成了以质轻体小、舒适安全、低能耗、运动柔顺及协调控制为目标的人机共融下肢外骨骼系统的基础研究。