基于人机偏差模型的自对齐髋关节外骨骼解耦设计与计算

发布时间：2018-01-22 18:45

本文关键词： 人机交互髋关节人机偏差解耦设计自适应　出处：《机器人》2017年05期 　论文类型：期刊论文

【摘要】：针对辅助外骨骼,分析了单自由度人机交互中的人机偏差因素,建立人机偏差变量模型,运用自对齐机构设计理论设计外骨骼机构,以提升人机耦合性能.首先,深入分析了单自由度人体生物关节,建立了人体简化模型+人机偏差变量模型的外骨骼设计模型参考.然后,运用自对齐机构设计理论和多自由度关节解耦方法,提出了自对齐人体运动的外骨骼机构设计思路与方法.最后,以下肢髋关节为对象,将髋关节外骨骼解耦为3个单自由度关节,设计了髋关节助力外骨骼的运动形式,并进行了人机耦合下的外骨骼动态静力驱动计算.结果显示,该运动设计使人机偏差交互力变得可控,从理论上证明了髋关节外骨骼机构能够跟随下肢运动并提供自适应人体的驱动助力.
[Abstract]:Aiming at the auxiliary exoskeleton, this paper analyzes the man-machine deviation factors in the man-machine interaction of single degree of freedom, establishes the man-machine deviation variable model, and designs the exoskeleton mechanism by using the design theory of self-aligning mechanism. In order to improve the performance of human-computer coupling. Firstly, the single-degree-of-freedom human biological joints are deeply analyzed, and the exoskeleton design model reference of the human-computer deviation variable model of the simplified human body model is established. Based on the design theory of self-alignment mechanism and the method of multi-degree-of-freedom joint decoupling, the design idea and method of exoskeleton mechanism of self-aligning human motion are put forward. Finally, the hip joint of lower extremity is taken as the object. The exoskeleton of hip joint is decoupled into three single degree of freedom joints. The motion form of hip assisted exoskeleton is designed, and the dynamic static driving calculation of exoskeleton under man-machine coupling is carried out. The motion design makes the man-machine deviation interaction controllable. It is proved theoretically that the hip exoskeleton mechanism can follow the lower limb motion and provide the driving power of the adaptive human body.
【作者单位】：西南交通大学;
【基金】：国家自然科学基金(51175442) 教育部“春晖计划”(Z2014036)
【分类号】：TP242
【正文快照】： 1引言(Introduction)可穿戴辅助外骨骼的研究始于20世纪60年代,最初的目的是增强人的力量尤其是帮助人负重.近20年来,可穿戴辅助外骨骼机器人迅速发展,其应用领域已经扩展到外太空探索、国防工业、高端制造和医疗康复训练等领域[1-5].可穿戴外骨骼机构有2种设计方法,一种是仿

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