外骨骼助行机器人复杂环境运动步态的耦合仿生设计研究

The core problem of the exoskeleton walking robot gait is to help lower limb paralysis disabled people and old people stably move in complex environments. The motion performance of the exoskeleton walking robot is difficult to improve rely solely on the traditional robot design theory. The motion performance of the exoskeleton robot and the wearer's man-machine system can be improved, only the control strategy of the exoskeleton walking robot and human motion characteristics will be combined together. The combination of theoretical research, simulation and prototype testing will be applied to this project. The multiple coupling bionic model of human lower limb muscle-skeleton-joint will be established to reveal the coupling motion mechanism of human walking in complex environment. The coupling motion mechanism and the reflection mechanism will be applied to the gait planning of the exoskeleton walking robot, in accordance with the modular hierarchical control thought. The coupling bionic design theory and method of the exoskeleton robot walking in complex environment will be searched to reveal the dynamic characteristics of the reflection-machine-environment coupling system, and to realize the steady walking on slippery ground, obstacle, ravine, slope and stair. This project is a new bionic idea to provide the new theory, new method and new way for the coupling bionic design of the exoskeleton robot walking in complex environment. The research results will have important scientific significance to improve the independent innovation design ability of Chinese service robot.

外骨骼助行机器人运动步态的核心问题是帮助下肢瘫痪残疾人和老年人实现在复杂特殊环境的稳定运动。单纯依靠传统的机器人设计理论，外骨骼助行机器人的运动性能很难再有所提高，只有将外骨骼助行机器人与人体运动特性的控制策略结合起来，才能真正提高外骨骼助行机器人与穿戴者组成的人机系统在复杂特殊环境的运动性能。本项目采用理论研究、仿真分析和样机试验相结合的研究方法，建立人体下肢肌肉-骨骼-关节的多元耦合仿生模型，阐明人体在复杂特殊环境行走时的耦合运动机理，将人体的耦合运动机理和运动反射机理融入步态规划，按照模块化分层递阶控制的思想，探索外骨骼助行机器人复杂特殊环境运动步态的耦合仿生设计理论与方法，阐明反射-机械-环境耦合系统的动态特性，实现外骨骼助行机器人在湿滑、障碍、沟壑、斜坡和台阶等复杂特殊环境的稳定运动。本项目是一种全新的仿生理念，对于提高我国助老助残服务机器人的自主创新设计能力具有重要的科学意义。

衰老是不可抗拒的自然规律，老年人的生理机能和运动机能都衰退，不同程度地丧失了运动能力和生活能力，在身心方面长年忍受着常人体会不到的痛苦，给家庭和社会带来了巨大的负担。针对外骨骼助行机器人亟待解决的关键科学问题，采用理论研究、仿真分析和样机试验相结合的研究方法，将人体的耦合运动机理和运动反射机理融入步态规划，探索外骨骼助行机器人运动步态的耦合仿生设计理论与方法，实现外骨骼助行机器人在复杂环境的稳定运动。将外骨骼助行机器人穿戴在老年人的腿上，能够扩大老年人在复杂环境的运动能力，增强老年人的自理能力和生活能力，满足老年人的迫切需求，对于提高我国服务机器人的自主创新设计能力具有重要的科学意义和社会价值。