人机协调稳定约束的单腿外骨骼机器人自适应式动平衡助行控制研究

项目名称： 人机协调稳定约束的单腿外骨骼机器人自适应式动平衡助行控制研究

项目编号： No.51505069

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 陆志国

作者单位： 东北大学

项目金额： 21万元

中文摘要： 下肢外骨骼机器人在辅助行走和助力方面已被广泛研究，但如何使其学会穿戴者的“个性化”行走方式仍是研究的难点。现有的外骨骼机器人控制理论通常采用检测人机作用力或肌电信号的方式来控制机器人，进而实现人机协调运动。但对于偏瘫患者，由于运动系统高位中枢神经失控，以上常用的外骨骼协调控制理论不适用。考虑到人类正常步态的周期对称性，针对偏瘫患者，本课题拟采用患腿学健腿的策略实现外骨骼机器人的运动控制。在动平衡保持方面，拟采用广义关键关节力控制理论对脚底支撑力及重心加速度进行实时调整，并根据当前状态对摆动腿的落脚点进行修正。与传统的双足机器人经典ZMP(零矩点)平衡原理不同，本课题提出的控制策略可令外骨骼机器人带动患腿模仿健腿进行周期性运动，这将更符合穿戴者的“个性化”行走习惯。该研究将有助于推广外骨骼机器人在偏瘫患者康复治疗与辅助行走方面的应用，为人机协调稳定行走提供理论依据和技术参考。

中文关键词： 力/位混合控制；外骨骼机器人；自适应；人机协调；偏瘫患者

英文摘要： Lower limb exoskeleton robots have been widely studied for assisting the human walking or human supporting; however, it is still a difficulty for the robot learning the wear’s own walking character. Most of the previous control theories realized the human-robot cooperation by minimizing the action forces between human and robot or estimating the electromyographic (EMG) signal. However, these methods cannot be applied on hemplegic patients due to the injury of the motor centers of the brain. Considering about the symmetry and periodicity, the motion control strategy is proposed by generating trajectories of the exoskeleton robot weared on the disabled leg through mimicing the healthy leg. For balance keeping, the improved key joint method is proposed for adjusting the foot reaction forces and the acceleration of the body COG (Center of Gravity). In addition, the landing point will be adjusted based on the current moving condition of COG. Compared with the classical ZMP (Zero Moment Point) balance principle, the control strategy proposed in this research is possible to make the exoskeleton robot carries the patient leg moving periodically by mimicing the healthy leg, and this kind of motion will meet the wear’s walking habit better. This research is helpful for digging exoskeleton robots’ potential applications, such as rehabilitation treatment and walking assistance for a hemplegic patient. This research will provide a useful theory basis and technology reference.

英文关键词： Hybrid Force/Position Control;Exoskeleton Robot;Adaptive Control;Human-Robot Coordination;Hemiplegic Patient