基于支持向量机的外骨骼机器人灵敏度放大控制

为了准确控制外骨骼机器人跟随人体运动,需要建立其动态、精确的数学模型;人体下肢外骨骼是一个多自由度、强耦合以及非线性的多连杆系统,难以建立准确的运动学和动力学模型;文章使用三维运动捕捉与空间定位系统,获取实际人体运动参数(运动学与动力学),应用支持向量机(SVM)学习人体下肢外骨骼的数学模型;基于该模型构造基于支持向量机模型的灵敏度放大控制方法;文章使用MATLAB和LIBSVM建立外骨骼下肢机器人的数学模型,并进行仿真分析;仿真结果表明基于SVM的模型学习方法,能够准确计算出人体下肢外骨骼的动力学模型,并简化建模过程;基于SVM的灵敏度放大控制,能够有效计算出人体下肢外骨骼各关节(髋关节、膝关节、踝关节)的输出力矩,并控制外骨骼机器人跟随人体运动。     

下肢外骨骼康复机器人人因工程研究进展

下肢外骨骼康复机器人是专门针对下肢运动障碍及行动不便者,提供康复锻炼的智能化装备, 其发展对于中国康复事业具有重大的理论意义与实际应用价值。人因工程研究可有效提高下肢康复机器人 HRI 人机交互安全性与交互效率。因此,深入探讨国内外下肢外骨骼康复机器人人因工程研究进展,对其研究现状、 发展趋势进行总结归纳。通过文献检索方法对相关文献进行分析,发现人机交互、步态行为、结构设计、安全 问题等是下肢外骨骼康复机器人人因工程领域的研究热点,并从人因出发,系统梳理国内外下肢外骨骼康复机 器人人因工程研究进展和发展动态,提出我国在下肢外骨骼康复机器人人因工程领域所面临的挑战,研究重点 和未来发展趋势。     

下肢负重外骨骼机器人的初步设计

研究设计了一种能够增强人体负重的下肢外骨骼机器人,该负重外骨骼机器人具有8个自由度,可实现髋关节的外展与内收、屈/伸运动;膝关节的屈/伸运动以及踝关节的弯曲运动;根据人体步态分析研究出各个关节的运动角度范围,结合目标负重进行结构优化设计;对机器人的结构进行简化,建立了外骨骼机器人的连杆模型,根据其几何关系,采用D-H准则对外骨骼机器人进行了数学建模;以计算机、六轴运动控制卡和STM32为核心构建了控制系统,结合ZMP (zero moment point)零力矩点稳定性判据及三次样条插值进行了步态规划,并将此步态规划应用于样机上;样机实验结果表明,此结构能够满足不同体型的人进行穿戴,并能够根据规划的步态轻松行走,验证了其结构和控制系统的合理性.     

气动肌肉下肢外骨骼机器人轨迹跟踪研究

气动肌肉下肢外骨骼机器人是当下的热门研究话题,对外骨骼理想轨迹进行精确跟踪是研究重点。但是气动肌肉下肢外骨骼运动系统结构复杂,有着很强的非线性,传统的控制方法不适用于这类系统。文章以气动肌肉下肢外骨骼机器人为研究对象,首先对气动肌肉和下肢外骨骼进行了动力学分析;然后采用基于趋近律的滑模控制器来对这一复杂的系统进行控制;最后利用Simulink对气动肌肉下肢外骨骼机器人运动控制仿真。结果表明,基于趋近律的滑模控制器对气动肌肉下肢外骨骼机器人轨迹跟踪有很好的控制效果。     

下肢外骨骼研究进展及关节运动学解算综述

随着传感融合、移动计算、智能驱动等技术的发展以及研究者对人体运动中下肢重要生物力学功能认知的逐步深化,下肢外骨骼机器人作为一种与下肢并联,能为穿戴者行走助力的可穿戴智能设备愈发受到世界各研究机构的重视。本文根据下肢外骨骼的用途和结构详细综述了近年下肢外骨骼的研究进展,并借此对下肢外骨骼的未来发展进行展望。并针对下肢外骨骼在实时运动学检测与控制上对小型传感器的迫切需求,提出一种能够用于控制下肢外骨骼的基于惯性测量单元的人体下肢关节运动学测量与解算技术,在基于惯性测量的单自由度关节角度结算上得到较好结果。     

士兵可穿戴下肢外骨骼机器人多元感知方法研究

下肢外骨骼机器人是一种可穿戴且融合了多种机器人技术的复杂人-机系统。它将人类的智慧与机器人强壮的能力有效地结合起来,最大限度地提高人体的机动力和耐力,这为提升单兵作战系统的能力创造了条件。鉴于下肢外骨骼机器人在作战、后勤保障时可能遇到的复杂地形、多变随机的任务等,仅通过基于既定的典型步态规划程序驱动执行已知的特定动作,难以保证人机间的耦合性和动作的高随意性切换。为此,模拟并提炼出士兵常见的六种下肢动作作为后续研究,然后分析了下肢外骨骼机器人的感知控制原理,并提出了基于脑电预判感知、肌电精确感知和光纤实时校正的多信息融合的感知方法,强调将人的智能参与到机器人控制中,以期推进士兵可穿戴下肢外骨骼机器人的实用化。     

偏瘫患者辅助下肢外骨骼设计与仿真分析

针对偏瘫患者外骨骼康复机器人降低外骨骼质量的要求,设计了一种辅助下肢外骨骼机器人,采用柔索驱动的膝关节,具有结构简单,质量轻的特点。同时利用ADAMS建立了外骨骼关节柔索驱动的动力学模型,绳索模块建立了柔索驱动模型,通过Ariel生物运动分析软件,采集髋、膝、踝关节运动数据,运用Spline函数进行了仿真分析。经过仿真分析柔索驱动在上台阶运动过程中的不同拉簧预紧力和拉簧刚度下传动特性和驱动力矩,为进一步研究设计下肢外骨骼提供依据。     

人体外骨骼服技术综述

人体外骨骼系统是一种穿戴在操作者身体外部的,融入了先进控制、信息、机械等技术的人机电系统,最终实现了力量的增强和感官的延伸。其研究将大大促进机器人技术、认知科学、医学等学科的发展,在抢险救灾、家庭护理等诸多方面具有广阔的应用前景,因此具有重要的科学理论意义和应用价值。首先介绍了人体外骨骼系统在国内外的发展和研究现状,然后简介了其基本功能结构和工作原理,接着阐述了实现外骨骼系统所涉及的主要关键技术,包括:仿生机械结构、人机接口、随动控制、驱动机构和能源系统技术等,并介绍了一些相关的新兴研究方向。     

外骨骼机器人的人体步态感知系统设计

针对下肢负重外骨骼机器人与其穿戴者运动协调的问题,设计一种人体步态感知系统,对人体下肢关键部位的运动状态采集和预测。用6个MTI—30姿态传感器采集人体下肢的姿态数据;以ARM微处理器STM32F407为计算单元,对采集的步态数据解算、预测和传输;用非线性时间序列分析Takens算法预测人体下肢关键部位的旋转运动。实验结果表明：该系统功能稳定,能准确对人体下肢的步态数据采集和预测,预测结果稳定可靠,为外骨骼控制器提供可靠的参考信息。     

柔性下肢外骨骼机器人研究进展及关键技术分析

首先简要描述了下肢外骨骼机器人在康复、工业以及军事等领域的应用需求,并对刚性与柔性下肢外骨骼系统（RLEEX/SLEEX）的优缺点、研究难点和适用人群进行了分析与对比．然后,对国内外研究机构在柔性下肢外骨骼机器人方面的研究历程与进展进行详细综述,重点描述了系统样机的结构与驱动特点、传感器布局方式、控制策略搭建以及助力效能评估等几项研究内容．最后,围绕柔性结构、意图识别、控制策略及助力评估共四方面关键技术进行了总结,并对未来发展趋势进行展望．     

From sensing to control of lower limb exoskeleton: a systematic review

As a typical application of the human-computer interaction device, the lower limb exoskeleton has attracted many researchers' attention in recent years in an attempt to improve its functionality in human body assistance, augmentation, treatment, and protection. Essentially, the interaction between the lower limb exoskeleton and the subject is mainly realized through its sensing and control system. The sensing and control of lower limb exoskeletons will significantly affect the subject's actual wearing effect in lower extremity assistance or enhancement. However, due to the limitations of sensing and control techniques, the lower limb exoskeleton is still challenging to achieve a large-scale popularization and application. Therefore, this paper investigated the literature regarding the sensing and control of lower limb exoskeletons in recent years and studied the influences of different sensor signals and controller modeling on the exoskeleton performance. In addition, the current research challenges of insufficient stability and comfort in lower limb exoskeleton control are discussed, and possible innovative insights of functional material-based actuation, invasive and epidermal electronic sensing, and data-driven deep learning are analyzed in-depth. Some future research directions of the exoskeleton control are also provided to facilitate the further development of the exoskeleton control.     

上肢康复外骨骼智能控制综述

外骨骼的应用有望缓解我国康复医疗资源面临着的巨大压力。康复外骨骼应用的关键在于保证康复体验的安全、有效和舒适,而智能控制技术是回应这些需求的有效手段。本文基于智能控制系统的分层递阶结构,总结了近年来上肢康复外骨骼智能控制系统中各层级控制器的研究现状。主要包括上层控制器中的运动意图识别、中层控制器中的运动轨迹规划以及底层...     

Optimization-based analysis of push recovery during walking motions to support the design of rigid and compliant lower limb exoskeletons

Abstract

Lower limb exoskeletons provide a promising approach to allow disabled people to walk again in the future. Designing such exoskeletons and tuning the required actuators is challenging, since the full dynamics of the combined human-exoskeleton system have to be taken into account. In particular, it is important to not only consider nominal walking motions but also extreme situations such as the recovery from large perturbations. In this paper, we present an approach based on push recovery experiments while walking, multibody system models, and least-squares optimal control to analyze the required torques to be generated by the exoskeleton, assuming that the human provides no torque. We consider seven different trials with varying push locations and push magnitudes applied on the back of the subject. In a first study, we investigate the dependency of these total joint torques on the exoskeleton mass – and compare the torques required for a human without exoskeleton to the ones for the human with two different exoskeleton configurations. In a second study, we investigate how optimally chosen passive spring-damper elements can support the required torques in the exoskeleton joints. It can be shown that the active torques can be reduced significantly in the different joints and cases.     

Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms

Legged exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable mechanical legs that support heavy loads. The exoskeleton-type system is a nonlinear system with uncertainty of parameters, which is not easy to be identified with traditional mathematical model. This paper presents co-simulations of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms, which do not need the precise model. The lower extremity exoskeleton model with series–parallel topology was briefly described and the gait characteristics were analyzed. The co-simulation method integrates ADAMS and MATLAB/SIMULINK with fuzzy-PID/PID algorithms, which were used to develop the control schematic of the exoskeleton-human robot system. Finally, co-simulations of humanoid gaits and movements, which include level walking, stair ascent, stair descent, side kick, squatting down and standing up, were provided to confirm the performances and effectiveness of the proposed control approach.     

Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application range. Unlike traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra support. The new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

     

Development of the basic structure for an exoskeleton cyborg system

The internal human skeleton is referred to as an endoskeleton, while the cuticles of lobsters and crabs are referred to as exoskeletons. Much research has been conducted in attempts to combine endoskeletons and exoskeletons. However, there are very few instances of research being undertaken to create a cyborg. The human endoskeleton consists of kinematic pairs that are joined together with a maximum of three degrees of kinematic freedom. These are a turning pair on a lateral-bending axis, a turning pair on a longitudinal-bending axis, and a turning pair on the central axis of a skeleton. If the strength of the muscles on a human skeleton decline, or if component parts of a human skeleton are lost, then a module-type exoskeleton designed with a maximum of three degrees of kinematic freedom would be able to contain an entire body so that it could assist the functions of the arms, hands, legs, and other body parts to complement the declining or lost physical functions (kinematic or biological). Based on this concept, it is possible to develop an exoskeleton cyborg system that behaves in much the same way that a human does in daily life. This work was presented in part at the 7th International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002     

下肢骨骼服全过程运动控制研究

为了实现下肢骨骼服的全过程运动控制,提出了对下肢骨骼服进行分阶段控制的策略.根据人体运动数据将下肢骨骼服的运动划分为摆动阶段和支撑阶段;根据这2个阶段的特点,摆动阶段采用灵敏度放大控制方法,支撑阶段采用位置控制方法,利用脚底压力传感器信号实现两种状态下控制器的切换.分阶段控制策略既利用了灵敏度放大控制的优点,避免了在使...