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

[7]	BOGUE R. Exoskeletons: a review of recent progress[J]. Industrial Robot: the International Journal of Robotics Research and Application, 2022, 49(5): 813-818.
[8]	US Army NSRDEC awards contract to Lockheed for ONYX exoskeleton[EB/OL]. (2018-11-30) [2024-04-08]. https://www.army-technology.com/news/nsrdec-lockheed-onyx-exoskeleton/.
[9]	谢静. 美国《时代》杂志评选2005年度最佳发明[J]. 中国发明与专利, 2006(1):80-85.
	XIE J. Time magazine selected the best invention of 2005[J]. Chinese Inventions and Patents, 2006(1): 80-85. (in Chinese)
[10]	SANKAI Y. HAL: hybrid assistive limb based on cyber-nics[J]. Springer Tracts in Advanced Robotics, 2011, 66: 25-34.
[11]	KIM W, LEE H, KIM D, et al. Mechanical design of the Hanyang exoskeleton assistive robot (HEXAR)[C]// Proceedings of the 2014 14th International Conference on Control, Aautomation and Systems. Gyeonggi-do, Korea (South): IEEE, 2014: 479-484.
[12]	KIM W, KIM H, LIM D, et al. Design and kinematic analysis of the hanyang exoskeleton assistive robot (HEXAR) for human synchronized motion[C]// Proceedings of the 2nd International Symposium on Wearable Robotics. Segovia, Spain:Springer International Publishing, 2016: 275-279.
[13]	HYUN D J, PARK H, HA T, et al. Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance[J]. Robotics and Autonomous Systems, 2017, 95: 181-195.
[14]	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.
[15]	VITECKOVA S, KUTILEK P, DE BOISBOISSEL G, et al. Empowering lower limbs exoskeletons: state-of-the-art[J]. Robotica, 2018, 36(11): 1743-1756.
[16]	CHRISTENSEN S, BAI S, RAFIQUE S, et al. AXO-SUIT: A modular full-body exoskeleton for physical assistance[M]. Cham: Springer International Publishing, 2019: 443-450.
[17]	The AUXSYS E1 Exoskeleton[EB/OL]. [2024-04-08]. https://www.auxsys.com/.
[18]	ZHOU J Y, LIU Y, MO X M, et al. A preliminary study of the military applications and future of individual exoskeletons[C]// Proceedings of the 2020 Spring International Conference on Defence Technology. Nanjing, China: IOP Publishing, 2020, 1507(10): 102044.
[19]	SAHIN Y, BOTSALI F M, KALYONCU M, et al. Mechanical design of lower extremity exoskeleton assisting walking of load carrying human[J]. Applied Mechanics and Materials, 2014, 598: 141-145.
[20]	CHU G, HONG J, JEONG D H, et al. The experiments of wearable robot for carrying heavy-weight objects of ship-building works[C]// Proceedings ofthe 2014 IEEE International Conference on Automation Science and Engineering (CASE). New Taipei, Taiwan, China: IEEE, 2014: 978-983.
[21]	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. doi: 10.3969/j.issn.1000-1093.2016.01.025
	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)
[22]	颉翔宇, 周利坤, 司玉昌. 军用动力外骨骼的发展现状及关键技术综述[J]. 兵工自动化, 2022, 41(10): 14-20.
	XIE X Y, ZHOU L K, SI Y C. Overview on development status and key technologies of military powered exoskeleton[J]. Ordnance Industry Automation, 2022, 41(10): 14-20. (in Chinese)
[23]	CHEN F, YU Y, GE Y J, et al. WPAL for human power assist during walking using dynamic equation[C]// Proceedings of the 2009 International Conference on Mechatronics and Automation. Changchun China: IEEE, 2009: 1039-1043.
[24]	孙建, 余永, 葛运建, 等. 基于接触力信息的可穿戴型下肢助力机器人传感系统研究[J]. 中国科学技术大学学报, 2008(12):1432-1438.
	SUN J, YU Y, GE Y J, et al. Research on multi-sensors perceptual system of wearable power assist leg based on interaction force signal and joint angle signal[J]. Journal of University of Science and Technology of China, 2008(12): 1432-1438. (in Chinese)
[1]	Exoskeleton market size, share & trends analysis report by mobility (mobile, fixed/stationary), by technology (pow-ered, non-powered), by extremity, by structure, by end-use, by region, and segment forecasts, 2024—2030:GVR-1-68038-071-2[R/OL]. (2024-01-31) [2024-04-09]. https://www.grandviewresearch.com/industry-analysis/exoskeleton-market.
[2]	孙晓强, 于旭东. 下肢外骨骼机器人步态识别系统综述[J]. 人工智能, 2024(1):66-80.
	SUN X Q, YU X D. A review of gait recognition systems for lower limb exoskeleton robots[J]. Artificial Intelligence, 2024 (1): 66-80. (in Chinese)
[3]	KAZEROONI H. Exoskeletons for human power augmen-tation[C]// Proceedings of the 2005 IEEE/RSJ International conference on intelligent Robots and Systems. Edmonton, AB, Canada: IEEE, 2005: 3459-3464.
[4]	ZOSS A B, KAZEROONI H, CHU A. Biomechanical de-sign of the Berkeley lower extremity exoskeleton (BLEEX)[J]. IEEE/ASME Transactions on Mechatronics, 2006, 11(2): 128-138.
[5]	BOGUE R. Exoskeletons and robotic prosthetics: a review of recent developments[J]. Industrial Robot: an International Journal, 2009, 36(5): 421-427.
[6]	KARLIN S. Raiding iron man’s closet [Geek life][J]. IEEE Spectrum, 2011, 48(8): 25.
[25]	归丽华, 杨智勇, 顾文锦, 等. 能量辅助骨骼服NAEIES的开发[J]. 海军航空工程学院学报, 2007, 22(4): 467-470.
	GUI L H, YANG Z Y, GU W J, et al. Development of power assistance exoskeleton suit (NAEIES)[J]. Journal of Naval Aeronautical Engineering Institute, 2007, 22(4): 467-470. (in Chinese)
[26]	陈法权, 樊军. 助力下肢外骨骼研究现状及关键技术分析[J]. 机床与液压, 2020, 48(20):155-160. doi: 10.3969/j.issn.1001-3881.2020.20.037
	CHEN F Q, FAN J. Research status and key technologies analysis of booster lower extremity exoskeleton[J]. Machine Tool & Hydraulics, 2020, 48(20): 155-160. (in Chinese)
[27]	朱钧. 基于人机交互的负重型下肢外骨骼关键技术研究[D]. 上海: 华东理工大学, 2017.
	ZHU J. Research on the key technologies of load- carrying lower extremity exoskeleton based on human-robot interaction[D]. Shanghai: East China University of Science and Technology, 2017. (in Chinese)
[28]	ZHU J, WANG Y, JIANG J L, et al. Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton[J]. International Journal of Advanced Robotic Systems, 2017, 14(1): 256112297.
[29]	张超. 下肢助力外骨骼机器人研究[D]. 哈尔滨: 哈尔滨工业大学, 2016.
	ZHANG C. Research on lower limbs powered exoskeleton robot[D]. Harbin:Harbin Institute of Technology, 2016. (in Chinese)
[30]	DENG J, WANG P F, LI M T, et al. Structure design of active power-assist lower limb exoskeleton APAL robot[J]. Advances in Mechanical Engineering, 2017, 9(11): 1687814017735791.
[31]	LI Z J, REN Z, ZHAO K K, et al. Human-cooperative control design of a walking exoskeleton for body weight support[J]. IEEE Transactions on Industrial Informatics, 2019, 16(5): 2985-2996.
[32]	葛水平, 杨陈君, 陈耀凯. 单兵外骨骼装备技术简介[J]. 中国新技术新产品, 2016(14):6-7.
	GE S P, YANG C J, CHEN Y K. Introduction to individual exoskeleton equipment technology[J]. New Technology & New Products of China, 2016(14): 6-7. (in Chinese)
[33]	李俊邑, 赵毅阳, 张豪, 等. 助行外骨骼机器人研究现状及发展趋势[J]. 医疗卫生装备, 2023, 44(2):96-106.
	LI J Y, ZHAO Y Y, ZHANG H, et al. Research status and development trends of walking exoskeleton robot[J]. Chinese Medical Equipment Journal, 2023, 44(2): 96-106. (in Chinese)
[34]	傲鲨智能, BES-PRO下肢外骨骼机器人[EB/OL]. [2024-03-28]. https://www.ulsrobotics.com/h-col-117.html.
	ULS robotics, BES-PRO lower limb exoskeleton robot[EB/OL]. [2024-03-28]. https://www.ulsrobotics.com/h-col-117.html. (in Chinese)
[35]	张学群. 外骨骼机器人随动助力技术(SAT)研究与实验平台开发[D]. 杭州: 浙江大学, 2019.
	ZHANG X Q. Research on the servo-augmentation technology (SAT) and experimental platform development of exoskeleton robot[D]. Hangzhou: Zhejiang University, 2019. (in Chinese)
[36]	贺磊. 拓展人体运动和负重能力的穿戴式机器人设计原理与方法[D]. 武汉: 华中科技大学, 2020.
	HE L. The design principle and method of wearable robots to extend the motion and load carriage capabilities of the human body[D]. Wuhan: Huazhong University of Science & Technology, 2020. (in Chinese)
[37]	王存金. 基于被动动态行走理论的下肢助力外骨骼研究[D]. 南京: 东南大学, 2022.
	WANG C J. Research on lower-limb exoskeleton based on passive dynamic walking theory[D]. Nanjing: Southeast University, 2022. (in Chinese)
[38]	李杨. 助力型人体下肢外骨骼理论分析与实验研究[D]. 南京: 南京理工大学, 2017.
	LI Y. Theoretical analysis and experimental research of the power-support human lower extremity exoskeleton[D]. Nanjing: Nanjing University of Science and Technology, 2017. (in Chinese)
[39]	STEGER R, KIM S H, KAZEROONI H. Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX)[C]// Proceedings of 2006 IEEE International Conference on Robotics and Automation. Orlando, FL, US: IEEE, 2006: 3469-3476.
[40]	LOW K H, LIU X, YU H. Development of NTU wearable exoskeleton system for assistive technologies[C]// Proceedings of the IEEE International Conference Mechatronics and Automation, 2005. Niagara Falls, ON, Canada: IEEE, 2005, 2: 1099-1106.
[41]	AARNO D, KRAGIC D. Motion intention recognition in robot assisted applications[J]. Robotics and Autonomous Systems, 2008, 56(8): 692-705.
[42]	龙亿. 下肢外骨骼人体运动预测与人机协调控制技术研究[D]. 哈尔滨: 哈尔滨工业大学, 2017.
	LONG Y. Human motion prediction and human-robot co-ordination control for lower extremity exoskeleton[D]. Harbin:Harbin Institute of Technology, 2017. (in Chinese)
[43]	DIETZ V. Proprioception and locomotor disorders[J]. Nature Reviews Neuroscience, 2002, 3(10): 781-790. doi: 10.1038/nrn939 pmid: 12360322
[44]	LI J, GU X, QIU S, et al. A survey of wearable lower extremity neurorehabilitation exoskeleton: sensing, gait dynamics, and human-robot collaboration[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, 54(6): 3675-3693.
[45]	TSUKAHARA A, HASEGAWA Y, EGUCHI K, et al. Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 23(2): 308-318.
[46]	GUI K, LIU H H, ZHANG D G. A practical and adaptive method to achieve EMG-Based torque estimation for a robotic exoskeleton[J]. IEEE/ASME Transactions on Mechatronics, 2019, 24(2): 483-494.
[47]	ZHU M, GUAN X R, LI Z, et al. SEMG-based lower limb motion prediction using CNN-LSTM with improved PCA optimization algorithm[J]. Journal of Bionics Engineering, 2023, 20(2): 612-627.
[48]	杨智勇, 张静, 归丽华, 等. 外骨骼机器人控制方法综述[J]. 海军航空工程学院学报, 2009(5):520-526.
	YANG Z Y, ZHANG J, GUI L H, et al. Summarize on the control method of exoskeleton robot[J]. Journal of Naval Aeronautical and Astronautical University, 2009(5): 520-526. (in Chinese)
[49]	RACINE JL C. Control of a lower extremity exoskeleton for human performance amplification[D]. California, US: University of California, 2003.
[50]	潘大雷. 混联下肢外骨骼的步态规划与控制研究[D]. 上海: 上海交通大学, 2015.
	PAN D L. Gait planning and control research of a novel lower extremity exoskeleton with series-parallel mechanism[D]. Shanghai: Shanghai Jiao Tong University, 2015. (in Chinese)
[51]	HASAN S K, DHINGRA A K. An adaptive controller for human lower extremity exoskeleton robot[J]. Microsystem Technologies, 2021, 27(7): 2829-2846.
[52]	HAN S S, WANG H P, TIAN Y. Model-free based adaptive nonsingular fast terminal sliding mode control with time-delay estimation for a 12 DOF multi-functional lower limb exoskeleton[J]. Advances in Engineering Software, 2018, 119: 38-47.
[53]	LI H M, LI D, CHEN X J, et al. Data-driven control based on the interval type-2 intuition fuzzy brain emotional learning network for the multiple degree-of-freedom rehabilitation robot[J]. Mathematical Problems in Engineering, 2021: 8892290.
[54]	YANG Y, HUANG D Q, DONG X C. Enhanced neural network control of lower limb rehabilitation exoskeleton by add-on repetitive learning[J]. Neurocomputing, 2019, 323: 256-264.
[55]	LIANG C, HSIAO T. Admittance control of powered ex-oskeletons based on joint torque estimation[J]. IEEE Access, 2020, 8: 94404-94414.
[56]	CHEN L L, WANG C, SONG X W, et al. Dynamic trajectory adjustment of lower limb exoskeleton in swing phase based on impedance control strategy[J]. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2020, 234(10): 1120-1132.
[57]	HUANG R, CHENG H, GUO H L, et al. Hierarchical learning control with physical human-exoskeleton interaction[J]. Information Sciences, 2018, 432: 584-595.
[58]	YUAN Y X, LI Z J, ZHAO T, et al. DMP-based motion generation for a walking exoskeleton robot using reinforcement learning[J]. IEEE Transactions on Industrial Electronics, 2020, 67(5): 3830-3839.

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