单兵救援助力外骨骼机器人的设计与特性分析

doi:10.12382/bgxb.2021.0729

摘要/Abstract

摘要： 针对单兵救援人员对装甲车内伤员实施救助时体力不足的问题，开展外骨骼辅助救援者的设计与特性分析研究。通过对人体弯腰提升过程运动机理的研究，开展救援外骨骼的机构设计、运动学与动力学分析。基于分散负载的理念，融合外骨骼方案和外肢体方案，提出一种辅助人体提升重物的并联助力机构，设计一种单兵救援提升助力系统，完成救援外骨骼的样机研制并通过实验验证了样机运动的有效性。研究结果表明：救援外骨骼机器人能够实现救援者提升过程的运动需求，并能够实现分散救援者负载、提高救援效率的目标。

关键词: 机器人, 助力外骨骼, 外肢体, 单兵救援, 腰部助力

Abstract: To address the lack of physical strength of individual rescuers during rescuing the wounded in armored vehicles, a study of assistance methods is carried out. Based on the research on the biological motion mechanism of the bending and lifting of the human body, an analysis of the mechanism design, kinematics and dynamics of the supporting exoskeleton are carried out. A parallel booster mechanism for lifting heavy objects is developed based on the concept of distributed load, integrating the exoskeleton scheme and external limb schemes. The feasibility of the prototype is verified by experiments. The results show that the rescue exoskeleton robot can effectively support the rescuer in lifting heavy objects, dispersing load, and enhancing rescue efficiency.

Key words: robot, powerassistedexoskeleton, supernumeraryroboticlimb, soldierrescue, waistassist

中图分类号:

TH117.1

宋纪元, 朱爱斌, 屠尧, 张甲林, 张育林. 单兵救援助力外骨骼机器人的设计与特性分析[J]. 兵工学报, 2022, 43(9): 2037-2047.

SONG Jiyuan, ZHU Aibin, TU Yao, ZHANG Jialin, ZHANG Yulin. Design and Features of Exoskeleton Assisting Individual-Soldier Rescue[J]. Acta Armamentarii, 2022, 43(9): 2037-2047.

参考文献

［1］ PONS J L.Wearable robots:biomechatronic exoskeletons［M］.New York，NY，US:John Wiley & Sons，2008:360.
［2］宋遒志，王晓光，王鑫，等.多关节外骨骼助力机器人发展现状及关键技术分析［J］.兵工学报，2016，37(1):172-185.
SONG Q Z，WANG X G，WANG X，et al.Development of multi-joint exoskeleton-assisted robot and its key technology analysis:an overview［J］.Acta Armamentarii，2016，37(1):172-185.(in Chinese)
［3］陈建华，李烨，王琦，等.基于人体运动能力的下肢外骨骼支撑相阻抗自调整控制方法研究［J］.兵工学报，2020，41(6):1201- 1209.
CHEN J H，LI Y，WANG Q，et al.Research on impedance self-adjusting control of lower extremity exoskeleton during support phase based on human motion ability［J］.Acta Armamentarii，2020，41(6):1201-1209. (in Chinese)
［4］ DOLLAR A M，HERR H.Lower extremity exoskeletons and active orthoses:challenges and state-of-the-art［J］.IEEE Transactions on Robotics，2008，24(1):144-158.
［5］陈豫生，张琴，熊蔡华.截瘫助行外骨骼研究综述：从拟人设计依据到外骨骼研究现状［J］.机器人，2021，43(5):585-605.
CHEN Y S，ZHANG Q，XIONG C H.From anthropomorphic design basis to exoskeleton research status:a review on walking assist exoskeletons for paraplegics［J］.Robot，2021，43(5):585-605. (in Chinese)
［6］ KAZEROONI H.Exoskeletons for human performance augmentation［M］.Berlin，Germany:Springer，2008.
［7］ MOONEY L M，ROUSE E J，HERR H M.Autonomous exoskeleton reduces metabolic cost of human walking［J］.Journal of Neuro Engineering and Rehabilitation，2014，11(1):1-6.
［8］ LEE G，KIM J，PANIZZOLO F A，et al.Reducing the metabolic cost of running with a tethered soft exosuit［J］.Sci. Robot，2017，2(6): 6708-31.
［9］ SANJUAN J D，CASTILLO A D，PADILLA M A，et al.Cable driven exoskeleton for upper-limb rehabilitation:a design review［J］.Robotics and Autonomous Systems，2020，126:103445.
［10］ PARIETTI F.Design and control of supernumerary robotic limbs［D］.Cambridge，MA，US：MIT，2016.
［11］ FONTANA M，VERTECHY R，MARCHESCHI S，et al. The body extender:a full-body exoskeleton for the transport and handling of heavy loads［J］.IEEE Robotics & Automation Magazine，2014，21(4): 34-44.
［12］ SATOH H，KAWABATA T，SANKAI Y.Bathing care assistance with robot suit HAL［C］∥Proceedings of 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).Guilin，China：IEEE，2009:498-503.
［13］ DAVENPORT C，PARIETTI F，ASADA H H.Design and biomechanical analysis of supernumerary robotic limbs［C］∥Proceedings of Dynamic Systems and Control Conference.Palo Alto，CA，US：American Society of Mechanical Engineers，2012，45295:787-793.
［14］ LLORENS-BONILLA B，PARIETTI F，ASADA H H.Demonstration-based control of supernumerary robotic limbs［C］∥
RSJ International Conference on Intelligent Robots and Systems(IROS).Vilamoura，Algarve，Portugal：IEEE，2012:7-12.
［15］ PARIETTI F，ASADA H H.Supernumerary robotic limbs for aircraft fuselage assembly:body stabilization and guidance by bracing［C］∥Proceedings of 2014 IEEE International Conference on Robotics and Automation(ICRA).Hong Kong，China：IEEE，2014:1176-1183.
［16］ LEIGN S，MAES P.Body integrated programmable joints interface［C］∥Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems.San Jose，CA，US:IEEE，2016:6053-6057.
［17］ TIZIANI L，HART A，CAHOON T，et al.Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices［J］.The International Journal of Robotics Research，2017，36(13/14):1391-1413.
［18］ WU F Y，ASADA H H.Bio-artificial synergies for grasp posture control of supernumerary robotic fingers［R］.Berkeley，CA，US:University of California，Berkeley，2014.
［19］ KUREK D A，ASADA H H.The mantisBot:design and impedance control of supernumerary robotic limbs for near-ground work［C］∥Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA). Ningbo，China：IEEE，2017:5942-5947.
［20］ PARIETTI F，ASADA H H.Dynamic analysis and state estimation for wearable robotic limbs subject to human-induced disturbances［C］∥Proceedings of 2013 IEEE International Conference on Robotics and Automation.Karlsruhe，Germany：IEEE，2013:3880- 3887.
［21］ GONGZALEZ D J，ASADA H H.Design of extra robotic legs for augmenting human payload capabilities by exploiting singularity and torque redistribution［C］∥Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).Madrid，Spain：IEEE，2018:4348-4354.
［22］ PARIETTI F，ASADA H.Supernumerary robotic limbs for human body support［J］.IEEE Transactions on Robotics，2016，32(2):301-311.
［23］ GONZALEZ D J，ASADA H H.Hybrid open-loop closed-loop control of coupled human-robot balance during assisted stance transition with extra robotic legs［J］.IEEE Robotics and Automation Letters，2019，4(2):1676-1683.
［24］ PARIETTI F，CHAN K C，HUNTER B，et al.Design and control of supernumerary robotic limbs for balance augmentation［C］∥Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA).Seattle，WA，US:IEEE，2015: 5010-5017.
［25］ TREERS L，LO R，CHEUNG M，et al. Design and control of lightweight supernumerary robotic limbs for sitting/standing assistance［C］∥Proceedings of International Symposium on Experimental Robotics.Nagasaki，Japan:Springer，2016:299-308.

[1]	刘江涛, 周乐来, 李贻斌. 复杂地形六轮独立驱动与转向机器人轨迹跟踪与避障控制[J]. 兵工学报, 2024, 45(1): 166-183.
[2]	许鹏, 邢伯阳, 刘宇飞, 李泳耀, 曾怡, 郑冬冬. 基于扩张状态观测器和模型预测方法的四足机器人抗干扰复合控制[J]. 兵工学报, 2023, 44(S2): 12-21.
[3]	刘思宇, 廖峻北, 雷飞, 王志瑞, 闫曈, 党睿娜, 郭朝. 用于四足机器人的并联弹性腿足关节设计与优化[J]. 兵工学报, 2023, 44(S2): 71-83.
[4]	降晨星, 姚其昌, 许鹏, 周雨婷, 闫曈. 新技术形势下四足、双足机器人技术的变革[J]. 兵工学报, 2023, 44(S2): 84-89.
[5]	鞠爽, 王晶, 王灏, 周萌. 基于GWO-WOA的执行器严重故障多移动机器人编队重构控制[J]. 兵工学报, 2023, 44(S2): 114-125.
[6]	许鹏, 赵建新, 范文慧, 邱天奇, 江磊, 梁振杰, 刘宇飞. 四足机器人特定复杂运动技能控制[J]. 兵工学报, 2023, 44(S2): 135-145.
[7]	李曹妍, 郭振川, 郑冬冬, 魏延岭. 基于分布式模型预测控制的多机器人协同编队[J]. 兵工学报, 2023, 44(S2): 178-190.
[8]	许威, 苏波, 江磊, 闫曈, 许鹏, 王志瑞, 邱天奇. 足式越野机器人集群系统关键技术与应用展望[J]. 兵工学报, 2023, 44(9): 2568-2579.
[9]	苏波, 江磊, 刘宇飞, 邢伯阳, 李泳耀, 谭森起, 王志瑞. 移动机器人跨域跃质关键技术综述[J]. 兵工学报, 2023, 44(9): 2556-2567.
[10]	李姗姗, 王洪波, 陈建宇, 张兴超, 田俊杰, 牛建业. 新型四足并联军用机器人步态控制算法及仿真[J]. 兵工学报, 2023, 44(3): 895-909.
[11]	尚哲, 王挺, 徐瑶, 吴英彪, 邵沛瑶, 邵士亮. 六轮摇臂移动机器人结构设计与越障动力学研究[J]. 兵工学报, 2023, 44(11): 3478-3488.
[12]	李辉, 宁峰平, 郭辉, 李瑞琴. 3-PRPS/RRR踝关节康复机器人运动机理研究与试验[J]. 兵工学报, 2023, 44(10): 3026-3037.
[13]	姜祎, 王挺, 邵沛瑶, 徐瑶, 邵士亮. 一种轮腿复合型机器人的步态研究与越障性能分析[J]. 兵工学报, 2023, 44(1): 247-259.
[14]	丁力，谷加辉，周金宇，康绍鹏，陈逸飞，李子依. 基于包络法的冗余机器人运动可靠性[J]. 兵工学报, 2022, 43(6): 1426-1434.
[15]	孟军辉，马诺，胡睿，金泽华，李文光，刘莉. 具有非对称褶皱结构的自生长软体机器人设计与运动特性[J]. 兵工学报, 2022, 43(12): 3186-3199.