面向外骨骼助行机器人的柔顺人机连接原理及实现方法研究

Exoskeleton assisted walking robot has been researched for many years, but principle and method of Physical Human-Machine Connection (PHMC) has not been effectively built, and cannot satisfy the development of exoskeleton robot because that the current direct and rigid PHMC fail to adapt joint alignment error between human and robot. Principle and method of flexible PHMC between mechanical system (exoskeleton assisted walking robot) and organism (wearer of robot) is researched. Firstly, rigid and flexible coupling model of organism and mechanism is built. Secondly a method of multi-DOF underactuated PHMC is proposed and its implement mechanism is analyzed and designed optimally. And then experiment system of exoskeleton robot and flexible PHMC mechanism is built. Based on experiment system, a performance evaluation method on PHMC is developed, and identification of human body parameter and joint alignment error based on the proposed PHMC is implemented. These researches may explore new directions for exoskeleton robot and even biological-mechanical system, and seek breakthrough of relative key scientific and technical issues, which build the foundation for the further practical application of exoskeleton assisted walking robot.

基于目前外骨骼助行机器人本体研究相对成熟、而人机连接原理与方法研究相对薄弱并制约外骨骼助行机器人应用和进一步研究的现实，针对目前捆绑式的人机连接存在无法适应生物-机械系统中关节对准误差的科学问题，本项目研究机械系统（外骨骼助行机器人）与生物体（穿戴者）之间的柔顺连接原理与方法，包括生物-机械系统的刚柔耦合建模、柔顺人机连接原理、连接机构的型综合与参数优化、生物-机械系统的连接机构性能评价方法、基于柔顺人机连接机构的人体参数与关节对准误差辨识等相关问题，探索外骨骼助行机器人乃至生物-机械系统进一步研究的新方向，寻求关键科学问题与技术问题的突破，为外骨骼助行机器人的推广和实际应用奠定基础。

针对目前外骨骼机器人中普遍采用的绑带式人机连接方式存在的无法适应生物-机械系统中关节对准误差的科学问题，本项目研究了机械系统（外骨骼助行机器人）与生物体（穿戴者）之间的柔顺连接原理与方法，包括生物-机械系统的刚柔耦合建模、柔顺人机连接原理、连接机构的型综合与参数优化、生物-机械系统连接机构穿戴舒适性能评价方法等问题，并建立了外骨骼助行机器人及人机柔顺约束机构实验系统，进行了外骨骼穿戴助行实验与舒适性评价实验，结果证明：采用柔顺人机连接机构，外骨骼机器人可完成助行功能的同时，提高了穿戴者的舒适性，且基于舒适度模型的评价结果与主观舒适度评价结果基本一致，证明了人机柔顺连接与舒适度评价模型的有效性，为外骨骼助行机器人的推广和实际应用奠定了基础。