下肢骨骼服全过程运动控制研究

Research On Full Cycle Movement Control of Lower Extremity Exoskeleton

为了实现下肢骨骼服的全过程运动控制,提出了对下肢骨骼服进行分阶段控制的策略。根据人体运动数据将下肢骨骼服的运动划分为摆动阶段和支撑阶段;根据这2个阶段的特点,摆动阶段采用灵敏度放大控制方法,支撑阶段采用位置控制方法,利用脚底压力传感器信号实现两种状态下控制器的切换。分阶段控制策略既利用了灵敏度放大控制的优点,避免了在使用者身上安装传感器的问题,同时又利用位置控制方法解决了模型不确定性较大的支撑阶段的控制。仿真结果证明,在设计的控制器作用下,下肢骨骼服能够准确迅速跟踪人的运动轨迹,并能提供运动所需的大部分力矩。

The movement control prodem of exeskeleton suit is discussed. In order to realize full cycle movement control of lower extremity exoskeleton. A stage control strategy is proposed. The movement of Lower extremity exoskeleton is divided into swing phase and stance phase based on the clinical gait analysis （CGA） data. According to the features two phases, the sensitivity amplified control （SAC） method is employed in swing phase and the position control method is applied in stance stage. The strategy makes full use of the merits of SAC control and position ctontrol method, avoiding the installation of sensors in the user. The simulation results show that the exoskeleton can track the user movement quickly and provides the majority torque required by movement.