基于等级控制分类的下肢外骨骼高层控制策略

High Level Control Strategies of the Lower Extremity Exoskelekon Based on the Hierarchy Control Classifiction

下肢外骨骼穿戴于人体外侧,是一个人机耦合的智能化机器人系统。针对目前国内外对控制策略归纳和综述存在不清楚等问题,基于等级的控制分类方法,将外骨骼控制按照等级差别,分为任务规划层、高层和低层等三种,厘清了分类依据的思路,归纳出高层控制包含的各种不同控制方式。从适用助力控制和康复辅助两方面角度出发,对这些控制方式的原理、控制率和控制效果进行了分析、讨论和研究。最后,对全文进行了总结。

The low extremity exoskeleton worn outside of human body is a human-machine coupling robotic system. A hierarchy-based classification method of controi strategies is expanded. According to hierarchy, an exoskeleton control system consists of task planning level, high control level and low control level. All control strategies in high control level is classified and discussed. Considering exoskeleton＇s two different function, namely poweramplification and rehabilitation, the theory, control rate and control effect are analyzed. Finally, summary on whole article was put forward.