下肢外骨骼机器人设计及实验研究

为实现下肢残障者的运动康复，设计液压驱动的下肢外骨骼机器人机构。针对下肢外骨骼的运动跟随需求，提出一种滑模控制器，并进行了控制仿真模拟。仿真结果表明：外骨骼采用该控制算法能较好地实现位置跟踪。基于dSPACE硬件在环实时仿真系统搭建了下肢外骨骼系统，进行了空摆实验、被动跟随实验及主动跟随实验。实验结果表明：设计的下肢助力外骨骼机器人能够为穿戴者提供助力，外骨骼样机的整体稳定性较好，对穿戴者具有良好的跟踪性能与快速响应性。

Design and Experimental Research of Lower Limb Exoskeleton System

In order to realize the movement rehabilitation of the lower limbs disabled,a hydraulically driven lower limb exoskeleton robot was designed.Aiming at the movement following requirements of the lower limb exoskeleton,a sliding mode controller was proposed and the control simulation was carried out.The simulation results show that this control algorithm can achieve position tracking well.A lower limb exoskeleton system was built based on dSPACE hardware-in-the-loop real-time simulation system.Empty pendulum experiment,passive follow-up experiment and active follow-up experiment were carried out.The experimental results show that the designed lower limb assisted exoskeleton robot can provide assistance to the wearer.The stability of the exoskeleton prototype is good,and it has good tracking performance and rapid response to the wearer.