面向静态稳定的可变形助行外骨骼机器人运动规划

Static stability-oriented motion planning for a deformable walking assistance exoskeleton robot

助行外骨骼机器人能够辅助下肢运动障碍人群站立行走,但相较于电动轮椅在移动距离与移动速度上存在不足。因此设计了一款可变形助行外骨骼机器人,具有助行外骨骼与电动轮椅两种相互独立可转换的形态。针对可变形助行外骨骼机器人变形与行走两种运动过程,研究面向系统静态稳定的运动规划。描述了可变形助行外骨骼机器人的变形原理;提出了基于系统重心投影点位置的运动规划方法,分析了外骨骼机器人在变形与行走过程的静态稳定性;完成了健康受试者穿戴外骨骼的变形与行走运动实验,实验中系统的稳定裕度分别大于54 mm和20 mm。实验结果表明,利用面向静态稳定的运动规划方法,可变形助行外骨骼机器人能够实现稳定可靠的变形切换与连续行走。

Walking assistance exoskeleton robots are able to assist the people with lower limb dyskinesia to stand and walk upright. However, they have shortcomings in locomotion distance and speed compared with the electric wheelchair. A deformable walking assistance exoskeleton robot is designed, which has two independent forms of walking assistance exoskeleton and electric wheelchair that can be converted to each other. Aiming at the two motion processes of deformation and walking, the static stability-oriented motion planning for the system is studied. The deformation principle of the deformable walking assistance exoskeleton robot is introduced. The motion planning method based on the projection point of the center of gravity(CoG) of the system is proposed. Moreover, the static stability of the exoskeleton robot during deformation and walking processes is analyzed. The deformation and walking motion experiments of a healthy subject wearing the exoskeleton were conducted. The stability margins in the deformation and walking experiments are greater than 54 mm and 20 mm, respectively. Experiment results demonstrate that the designed deformable walking assistance exoskeleton robot can achieve stable and reliable deformation switching and continuous walking utilizing the proposed static stability-oriented motion planning method.