摘要
针对行走助力需求,通过对人体下肢结构与运动特征进行分析,采用模块化的方法设计了一款下肢助力外骨骼机器人。考虑不同场景穿戴者的运动特点,基于该系统设计了主动助力与随动跟踪2种控制模式。行走实验表明,该下肢外骨骼机器人既可以实现负重助行的功能,也能对目标关节轨迹进行快速的跟踪而不阻碍穿戴者的正常运动。
Based on the analysis of the structure and gait characteristics of human lower limbs,an assistive lower limb exoskeleton robot was designed throughmodular method to assist people walking.Two control modes:active assistance mode and motionfollowing mode were designed based on the system according to the gait characteristics of the wearer in different scenarios,two control modes,active assistance mode and motionfollowing mode,were designed based on the system.The experiment shows that the lower limb exoskeleton robot can not only assist walking,but also follow the target joint trajectory quickly without impeding the movement of the wearer.
作者
曾城
许森
丁烨
ZENG Cheng;XU Sen;DING Ye(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《机械与电子》
2022年第7期69-74,共6页
Machinery & Electronics
基金
国家自然科学基金资助项目(91948302)。
