基于实时步态分析的行走辅助外骨骼机器人系统

发布时间：2019-03-09 17:55

【摘要】：面向因病痛或自然衰老等原因腿部运动功能受到轻度影响的患者或老年人,本文提出了一种可穿戴外骨骼机器人系统,通过体重支撑的方式减轻双腿在行走过程中对髋、膝、踝关节和腿部肌肉的负载,以实现行走辅助的功能。考虑到使用人群的心理诉求和病症特点,有别于固定式或跟随式康复机器人上配有的减重系统,本文提出的外骨骼机器人结构美观,轻巧便携。系统通过足底压力传感器实时对使用者的步态进行分析,通过步态相的划分,针对各步态相提出不同的控制策略。通过座椅上的压力传感器实时监测外骨骼提供支撑力度的大小,且驱动控制使用比例-积分-微分(PID)控制技术进行力矩控制。机器人系统总重12.5 kg,站立时平均辅助支撑约10 kg,行走中平均辅助支撑约3 kg,起到了一定的体重支撑效果,减轻了行走和站立时对下肢的压力。
[Abstract]:In this paper, a wearable exoskeleton robot system is proposed for patients or elderly people whose leg motor function is slightly affected by pain or natural senescence, which can reduce the weight support of both legs to the hip and knee during walking. Ankle joint and leg muscle load to achieve walking aids. The exoskeleton robot proposed in this paper is beautiful and portable in view of the psychological demands and symptoms of the users, which is different from the weight-loss system attached to the fixed or follow-up rehabilitation robot. The system analyzes the user's gait by the foot pressure sensor in real time, and puts forward different control strategies for each gait phase by dividing the gait phase. The pressure sensor on the seat can monitor the support strength of the exoskeleton in real time, and the drive control uses the proportional-integral-differential (PID) control technique to control the torque of the exoskeleton. When the total weight of the robot system is 12.5 kg, the average auxiliary support is about 10 kg, in walking, and the average auxiliary support is about 3 kg, in walking, which reduces the pressure on the lower limbs during walking and standing.
【作者单位】：哈尔滨工业大学深圳研究生院电子与信息工程学院;北京大学深圳研究生院信息工程学院;
【基金】：深圳市科技计划基础研究项目资助(JCYJ20150403161923540)
【分类号】：TP242

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