| 赵瀚,王炳,杨玉维,桑永波,赵新华,李彬.膝关节外骨骼机器人自适应变刚度承载优化研究[J].高技术通讯(中文),2022,32(1):93~100 |
| 膝关节外骨骼机器人自适应变刚度承载优化研究 |
| Analysis on optimization of load-bearing for adaptive stiffness of knee exoskeleton robot |
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| DOI：10.3772/j.issn.1002-0470.2022.01.011 |
| 中文关键词: 膝关节外骨骼机器人； 自适应变刚度； 承载优化 |
| 英文关键词: knee exoskeleton robot, adaptive stiffness, load optimization |
| 基金项目: |
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| 中文摘要: |
| 针对人体膝关节转动瞬心的运动规律，以及下肢在支撑相运动过程中需要外骨骼提供较高的辅助承重刚度、摆动相中外骨骼与膝关节运动空间相匹配兼容等特点，提出一种新型自适应变刚度膝关节外骨骼机器人。以此为研究原型，采用拉格朗日法构建了膝关节外骨骼转动部分系统动力学模型，并以此为基础在Matlab平台上开展了其负载优化仿真研究，最终得到膝关节外骨骼在支撑相平均可以承载63.93%人体膝关节运动载荷的优化结果，进而验证了膝关节外骨骼运动承载的辅助性能，同时验证了变刚度承载优化方法的有效性。 |
| 英文摘要: |
| An adaptive variable-stiffness knee joint exoskeleton robot is designed based on the instantaneous motion of the human knee joint rotation, considering the characteristics that the lower limb needs the exoskeleton to provide high load-bearing stiffness during the support-phase motion, and the compatibility between the exoskeleton and the knee joint motion space during the swing phase. The system dynamics model of the rotational part of the knee exoskeleton is systematically constructed by the Lagrangian method and the load optimization simulation study is carried out on Matlab platform. Final optimized result shows that the knee exoskeleton can carry 63.93% of human knee motion load on average in the support phase, and also verifies the correctness of the effectiveness of the variable stiffness bearing optimization method. |
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