基于ZMP理论的下肢外骨骼机器人稳定性分析

Stability Analysis of Lower Limb Exoskeleton Robot Based on ZMP Theory

下肢外骨骼机器人带动人体下肢来完成行走、站立等动作,此过程的人机交互很密切。在人行走、站立等过程中,随着不稳定因素的产生,会使外骨骼机器人带动人体发生倾倒情况。针对所存在的问题,以ZMP理论为依据,对下肢外骨骼机器人的稳定性进行分析,通过仿真分析最终给出符合下肢外骨骼机器人的稳定性判据。

The lower limb exoskeleton robot drives the lower limbs of the human body to complete walking,standing and other actions.The human-computer interaction in this process is very close.In the process of walking,standing,etc.,with the generation of unstable factors,the exoskeleton robot will cause the human body to fall.In view of the existing problems,based on the ZMP theory,the stability of the lower extremity exoskeleton robot is analyzed,and the stability criterion of the lower extremity exoskeleton robot is finally given through simulation analysis.