外骨骼柔顺膝关节作动机构研究

Study on Compliant Actuator of the Knee Joint for Exoskeleton

外骨骼关节的柔顺性在适应穿戴者不同运动状态和人机相容性方面至关重要,然而,常见的刚性机构和被动柔顺机构不能够实时反馈人机交互力从而达到主动柔顺的目的。设计了一种主动柔顺膝关节作动机构,利用拮抗驱动原理结合曲柄滑块的力位转换能力,使其不仅能够达到利用传统串联弹性驱动增加机构柔顺的目的,还可以通过该柔顺机构实时计算人机交互力。实验证明了该柔顺机构的可行性和有效性。

The compliance of the joint for exoskeleton is very important in adapting to the wearer’s motions and human-machine compatibility.However,the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machine interaction forces.Therefore,an active compliant actuator of the knee joint is developed,using of the antagonistic driving principles and the force-position transformation of the slider-crank mechanism,which can not only implement the compliance of the traditional series elastic actuator,but also can obtain the real-time human-machine interaction forces.Finally,the feasibility and effectiveness of the compliant actuator are verified by tests.