有源刚性下肢助力外骨骼研究现状与关键技术分析

doi:10.12382/bgxb.2024.0508

摘要/Abstract

摘要：

有源刚性下肢助力外骨骼系统是一种穿戴在人身体上的伴随式智能装备,单兵穿戴者通过它能提高人体负载与机动能力。从有源刚性下肢助力外骨骼的国内外研究现状出发,概述了当前助力增强型有源刚性下肢外骨骼的发展现状,并围绕国内外已有研究的进展,对影响下肢助力外骨骼发展的传感感知、机械构型与驱动、控制技术等核心关键技术进行了分析与总结,特别考虑了外骨骼在应对士兵这类特殊群体时的技术难点,为有源刚性下肢助力外骨骼在单兵装备的发展上提供一定的参考价值。

关键词: 外骨骼, 传感, 构型, 驱动, 控制

Abstract:

Active rigid lower limb assisted exoskeleton system is an intelligent device worn on the human body that can improve the load capacity and mobility of individual soldiers. The current research status and development of active rigid lower limb assisted exoskeletons at home and abroad are summarized. The key technologies, such as sensing, mechanical structure, actuator, and control technology, that affect the development of lower limb assisted exoskeletons, are analyzed and summarized based on existing research. Special consideration is given to the technical difficulties of exoskeletons for special groups, such as soldiers, providing valuable insights for the development of active rigid lower limb assisted exoskeletons for soldier equipment.

Key words: exoskeleton, sensor, structure, actuator, control

中图分类号:

TP242

李仲, 管小荣, 李回滨, 何龙, 龙亿. 有源刚性下肢助力外骨骼研究现状与关键技术分析[J]. 兵工学报, 2024, 45(S1): 262-270.

LI Zhong, GUAN Xiaorong, LI Huibin, HE Long, LONG Yi. Research Status and Key Technology Analysis of Active Rigid Lower Limb Assisted Exoskeleton[J]. Acta Armamentarii, 2024, 45(S1): 262-270.

图/表 4

参考文献 58

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外骨骼	自由度	驱动自由度	驱动方式	参考来源
BLEEX	HF-HA-HR-KF-AF-AA-AR	HF-HA-KF-AF	液压	文献[4]
XOS-2	—	—	液压	文献[6]
ONYX	—	KF	电机	文献[8]
HAL-5-B	HF-KF-AF	HF-KF	电机	文献[10]
HEXAR	HF-HA-HR-KF-AF-AA-AR	HF-KF	电机	文献[11]
HUMA	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[13]
BE	HF-HA-HR-KF-AF-AA	HF-HA-HR-KF-AF-AA	电机	文献[14]
LB-AXO	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[16]
WPAL	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[24]
华东理工	HF-HA-HA-HR-KF-AF-AA	KF	液压	文献[27]
HIT-LEX	HF-HA-HR-KF-AF-AA	HF-HA-KF	电机	文献[29]
APAL	HF-HA-HR-KF-AF-AA	HF-KF	液压	文献[30]
中科大	HF-HA-KF-AF	HF-HA-KF	电机	文献[31]
BES-PRO	—	HF-KF	电机	文献[34]

外骨骼	自由度	驱动自由度	驱动方式	参考来源
BLEEX	HF-HA-HR-KF-AF-AA-AR	HF-HA-KF-AF	液压	文献[4]
XOS-2	—	—	液压	文献[6]
ONYX	—	KF	电机	文献[8]
HAL-5-B	HF-KF-AF	HF-KF	电机	文献[10]
HEXAR	HF-HA-HR-KF-AF-AA-AR	HF-KF	电机	文献[11]
HUMA	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[13]
BE	HF-HA-HR-KF-AF-AA	HF-HA-HR-KF-AF-AA	电机	文献[14]
LB-AXO	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[16]
WPAL	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[24]
华东理工	HF-HA-HA-HR-KF-AF-AA	KF	液压	文献[27]
HIT-LEX	HF-HA-HR-KF-AF-AA	HF-HA-KF	电机	文献[29]
APAL	HF-HA-HR-KF-AF-AA	HF-KF	液压	文献[30]
中科大	HF-HA-KF-AF	HF-HA-KF	电机	文献[31]
BES-PRO	—	HF-KF	电机	文献[34]

方法	预编程	直接力反馈	地面力反馈	零力矩点控制法	肌电信号控制法	操作者控制	主从控制	灵敏度放大	虚拟力控制
适应不同操作者	2	3	2	1	1	5	1	1	5
执行不同动作	1	5	5	5	2	1	5	3	5
控制器稳定性	2	5	2	5	1	1	5	1	3
人机工程学	5	2	4	2	5	5	2	4	4
非强加于人	5	2	3	2	2	1	1	5	5
研发速度	4	2	3	3	1	4	2	3	5
测人传感器少	5	2	3	1	1	3	2	1	5
测外骨骼传感器少	4	3	1	1	3	3	4	1	1
硬件复杂性低	5	2	2	3	5	5	1	2	4
计算需求量低	3	3	1	4	2	5	4	5	2

方法	预编程	直接力反馈	地面力反馈	零力矩点控制法	肌电信号控制法	操作者控制	主从控制	灵敏度放大	虚拟力控制
适应不同操作者	2	3	2	1	1	5	1	1	5
执行不同动作	1	5	5	5	2	1	5	3	5
控制器稳定性	2	5	2	5	1	1	5	1	3
人机工程学	5	2	4	2	5	5	2	4	4
非强加于人	5	2	3	2	2	1	1	5	5
研发速度	4	2	3	3	1	4	2	3	5
测人传感器少	5	2	3	1	1	3	2	1	5
测外骨骼传感器少	4	3	1	1	3	3	4	1	1
硬件复杂性低	5	2	2	3	5	5	1	2	4
计算需求量低	3	3	1	4	2	5	4	5	2