套索柔顺驱动肘关节软质外骨骼优化及协调控制研究

Exoskeleton robot has become a research hotspot in the field of medical rehabilitation. However, the existing rigid exoskeletons have the problems of heavy and large structure, low safety and comfort, bad human-robot coordination, while the existing soft exoskeletons have the shortcomings of low driving capacity and poor control accuracy. Therefore, this project aims to develop a novel soft exoskeleton with compliant tendon-sheath actuation, which can ensure the compliance, coordination, accuracy, rationality and diversity of the power assistance and rehabilitation training of elbow. The research will be conducted as the following four aspects: (1) The realization principle and the force/position transmission characteristics of compliant tendon-sheath actuation are studied based on the biomechanical property of muscle and the Hill muscle model. The precision motion control strategies are developed based on adaptive states observation and inverse compensation. (2) Based on the compliant tendon-sheath actuation and soft wearable materials, the configuration optimization of the soft exoskeleton is researched, which satisfies the uniform pressure principle and energy efficiency optimization principle. (3) The dynamic model of the human-robot rigid-flexible-soft coupling system is established. The identification method and evolution mechanism of dynamic parameters are studied. (4) The multi-mode human-robot coordination control strategy is developed based on multisource sensing information fusion technique and system dynamics. Besides, the system integration and experimental verification are carried out. This project will bring important theoretical significance and practical values to the innovative breakthrough of the power assistance and rehabilitation robot system.

外骨骼机器人是医疗康复领域的研究热点。针对已有刚性外骨骼结构笨重庞大、安全舒适性低、人机协调性差，而软质外骨骼驱动能力不足、控制精度差等问题，本项目以基于套索柔顺驱动的软质外骨骼为研究载体，以实现柔顺协调、准确合理、模式多样的肘关节助力/康复训练为研究目标，开展以下四个方面的研究：（1）基于骨骼肌生物力学特性与Hill肌肉模型理论，研究套索柔顺驱动的实现机理及其力/位置传动特性，提出基于自适应状态观测与逆模型补偿的精密运动控制策略；（2）基于套索柔顺驱动系统与软质穿戴结构，研究符合压力均布与能效优化原则的肘关节软质外骨骼构型优化方法；（3）建立人机刚-柔-软耦合多体系统动力学模型，研究动力学参数辨识方法及其演化机理；（4）提出基于多源传感信息融合和系统动力学特性的多模式人机协调控制策略，并进行系统集成与试验验证。本项目对实现助力/康复机器人系统的创新突破具有重要的理论意义和实用价值。

一、项目背景.我国正面临着人口老龄化、中风年轻化、交通事故频繁化等社会问题，越来越多的病人需要通过科学有效的康复训练来恢复肢体运动功能。外骨骼机器人是医疗康复领域的研究热点。针对已有刚性外骨骼结构笨重庞大、安全舒适性低、人机协调性差，而软质外骨骼驱动能力不足、控制精度差等问题，本项目以套索柔顺驱动软质外骨骼为研究载体，以实现柔顺协调、准确合理、模式多样的肘关节助力/康复训练为研究目标展开研究。.二、主要研究内容.（1）基于骨骼肌生物力学特性与Hill肌肉模型理论，研究了套索人工肌肉柔顺驱动的实现机理及其力/位置传动特性，提出基于曲率实时检测与逆模型补偿的精密运动控制策略；（2）基于套索人工肌肉柔顺驱动系统与软质穿戴结构，研究符合肘关节生理结构与人机交互刚度优化原则的软质外骨骼构型优化方法；（3）基于Cosserat理论、Kane方法与拉格朗日动力学理论，提出人机刚-柔-软耦合多体系统的动力学建模方法；（4）结合上肢软质外骨骼的柔性特点，设计了软质外骨骼多传感检测系统，提出了基于肌电传感器、神经网络算法、卡尔曼滤波算法的关节扭矩估计策略，提出了基于惯性测量单元与Mahony互补滤波算法的人体关节角度估计算法，提出了基于脑机接口、稳态视觉诱发电位以及运动想象的运动意图识别方法；（5）面向不同瘫痪程度与康复进度的患者的康复训练需求，提出了基于多源传感信息融合的多模式人机协调控制策略，包括基于神经网络控制器和估计关节扭矩的PID力位混合控制策略、基于最小干涉和最小跃度原则的导纳控制策略、基于时延估计算法的积分模糊滑模阻抗控制策略、基于障碍李雅普诺夫函数的自适应神经网络控制策略等，并进行软质外骨骼的系统集成与试验验证。.三、关键数据及其科学意义.该项目发表了19篇SCI和4篇EI论文，申请发明专利10项，授权发明专利6项，促进了多学科交叉发展，提高了我国康复外骨骼机器人的研究水平，研究成果突出，具有重要的学术价值和实际应用意义。