AES-SEA and Bionic Knee Based Lower Limb Exoskeleton Design and LQR-virtual Tunnel Control

IF 5.8 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Yi Long, Zhibin Cai, Hexiao Guo
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引用次数: 0

Abstract

The lower limb assisted exoskeleton is a prominent area of research within the field of exoskeleton technology. However, several challenges remain, including the development of flexible actuators, high battery consumption, the risk of joint misalignment, and limited assistive capabilities. This paper proposes a compact flexible actuator incorporating two elastic elements named Adjustable Energy Storage Series Elastic Actuator (AES-SEA), which combining an adjustable energy storage device with a series elastic actuator for application in exoskeleton hip joints. This design aims to enhance energy efficiency and improve assistive effects. Subsequently, we introduce a novel knee joint bionic structure based on a pulley-groove configuration and a four-link mechanism, designed to replicate human knee joint motion and prevent joint misalignment. Additionally, we propose an innovative controller that integrates concepts from Linear Quadratic Regulator (LQR) control and virtual tunnel for level walking assistance. This controller modulates the assisted reference trajectory using the virtual tunnel concept, enabling different levels of assistance both inside and outside the tunnel by adjusting the parameters \(Q\) and \(R\). This approach enhances the assisting force while ensuring the safety of human-computer interaction. Finally, metabolic experiments were conducted to evaluate the effectiveness of the exoskeleton assistance.

基于AES-SEA和仿生膝关节的下肢外骨骼设计与lqr -虚拟隧道控制
下肢辅助外骨骼是外骨骼技术领域的一个重要研究领域。然而,仍然存在一些挑战,包括柔性执行器的开发、高电池消耗、关节错位的风险以及有限的辅助功能。本文提出了一种包含两个弹性元件的紧凑型柔性致动器,称为可调储能系列弹性致动器(AES-SEA),将可调储能装置与串联弹性致动器相结合,应用于外骨骼髋关节。本设计旨在提高能源效率,改善辅助效果。随后,我们介绍了一种基于滑轮槽结构和四连杆机构的新型膝关节仿生结构,旨在复制人类膝关节运动并防止关节错位。此外,我们提出了一种创新的控制器,它集成了线性二次调节器(LQR)控制和虚拟隧道的概念,用于水平行走辅助。该控制器使用虚拟隧道概念来调节辅助参考轨迹,通过调整参数\(Q\)和\(R\)来实现隧道内外不同程度的辅助。该方法在保证人机交互安全的同时,增强了辅助力。最后,进行代谢实验来评估外骨骼辅助的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Journal of Bionic Engineering
Journal of Bionic Engineering 工程技术-材料科学:生物材料
CiteScore
7.10
自引率
10.00%
发文量
162
审稿时长
10.0 months
期刊介绍: The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.
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