下肢外骨骼的膝关节轴线自适应设计与尺度综合

doi:10.12382/bgxb.2021.0171

摘要/Abstract

摘要： 针对目前外骨骼膝关节与人体膝关节旋转轴线不重合，人机之间存在“寄生力”的问题，提出一种混联外骨骼膝关节和一种基于李代数的运动学规划算法。利用运动学模型建立驱动器和人体运动之间的映射，对人体运动进行感知，构建关节位形空间。介绍了一种基于螺旋理论的参数选择方法，结合粒子群优化算法，以工作空间面积和全局传递指标为优化目标，优化了膝关节外骨骼的尺度。仿真和实验结果表明：膝关节外骨骼的工作空间覆盖了膝关节运动范围，支链传递效率均大于0.7；外骨骼可以精确根据人体运动调整自身运动轴线，消除人机之间的“寄生力”。

关键词: 膝关节, 下肢外骨骼, 轴线, 自适应设计, 尺度综合, 螺旋理论, 参数选择

Abstract: A hybrid exoskeleton of knee joint and a motion planning algorithm based on Lie algebra are proposed to solve the problem of “parasitic force” between human and machine.The mapping between the driver and the human motion is established by using the kinematic model，the human motion is sensed，and the joint configuration space is constructed. A parameter selection method based on screw theory and particle swarm optimization algorithm is introduced to optimize the size of knee exoskeleton with the objective of workspace area and global transmission index.The simulated and experimental results show that the workspace of knee exoskeleton covers the motion range of knee joint，and the motion transfer efficiency of limb is greater than 0.7；and the exoskeleton can accurately adjust its own motion axis according to the human motion and eliminate the “parasitic force” between human and machine.

Key words: kneejoint, lower-limbexoskeleton, axis, self-adaptivedesign, dimensionalsynthesis, screwtheory, parameterselection

中图分类号:

马春生, 尹晓秦, 马振东, 米文博. 下肢外骨骼的膝关节轴线自适应设计与尺度综合[J]. 兵工学报, 2022, 43(3): 653-660.

MA Chunsheng, YIN Xiaoqin, MA Zhendong, MI Wenbo. Axis Self-adaptive Design and Dimensional Synthesis of Knee Joint of Lower Limb Exoskeleton[J]. Acta Armamentarii, 2022, 43(3): 653-660.

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