液压式下肢外骨骼机器人运动控制策略

Hongchul Kim, C. Seo, Y. Shin, Jung Kim, Y. Kang
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引用次数: 17

摘要

在军事行动中,士兵经常要长时间背负重物。为此,外骨骼机器人已经被开发出来,以增强机动性,减少由重物引起的肌肉疲劳。提出了一种军用液压下肢外骨骼机器人的运动控制策略。该机器人采用了站立阶段主动控制和摆动阶段被动控制的双模控制方案,既实现了摆动阶段的高速行走,又实现了站立阶段的重载支撑。为了减少从摆动相位到站立相位过渡时力矩指令的突然变化,采用了平滑方法。我们还实现了一种预转换方法,通过提前预测从挥拍到站立的变化,快速地将一只脚移开以进行快走。实验结果表明,佩戴者背着45公斤的背包,在跑步机上以高达4公里/小时的速度行走。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Locomotion control strategy of hydraulic lower extremity exoskeleton robot
Soldiers often should carry heavy loads on their back for a long time during military operations. To this end, exoskeleton robots have been developed to enhance mobility and reduce the muscle fatigue caused by heavy loads. This paper presents a locomotion control strategy for a hydraulic lower extremity exoskeleton robot developed for military purposes. The robot utilized the dual-mode control scheme, which is comprised of the active control for the stance phase and the passive control for the swing phase, to achieve high walking speed in the swing phase while supporting heavy loads in the stance phase. To reduce the sudden change of the torque command at the transition from the swing phase to the stance phase, a smoothing method is adopted. We also implemented a pre-transition method to take a foot off quickly for fast walking by predicting the change from the swing to the stance in advance. The experiment results show that a wearer can walk at a speed of up to 4 km/h on a treadmill with a 45 kg backpack load.
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