面向外骨骼助行机器人的柔顺人机连接原理及实现方法研究

项目名称： 面向外骨骼助行机器人的柔顺人机连接原理及实现方法研究

项目编号： No.51475314

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 李娟

作者单位： 苏州大学

项目金额： 80万元

中文摘要： 基于目前外骨骼助行机器人本体研究相对成熟、而人机连接原理与方法研究相对薄弱并制约外骨骼助行机器人应用和进一步研究的现实，针对目前捆绑式的人机连接存在无法适应生物-机械系统中关节对准误差的科学问题，本项目研究机械系统（外骨骼助行机器人）与生物体（穿戴者）之间的柔顺连接原理与方法，包括生物-机械系统的刚柔耦合建模、柔顺人机连接原理、连接机构的型综合与参数优化、生物-机械系统的连接机构性能评价方法、基于柔顺人机连接机构的人体参数与关节对准误差辨识等相关问题，探索外骨骼助行机器人乃至生物-机械系统进一步研究的新方向，寻求关键科学问题与技术问题的突破，为外骨骼助行机器人的推广和实际应用奠定基础。

中文关键词： 外骨骼助行机器人；人机连接；刚柔耦合；优化设计

英文摘要： Exoskeleton assisted walking robot has been researched for many years, but principle and method of Physical Human-Machine Connection (PHMC) has not been effectively built, and cannot satisfy the development of exoskeleton robot because that the current direct and rigid PHMC fail to adapt joint alignment error between human and robot. Principle and method of flexible PHMC between mechanical system (exoskeleton assisted walking robot) and organism (wearer of robot) is researched. Firstly, rigid and flexible coupling model of organism and mechanism is built. Secondly a method of multi-DOF underactuated PHMC is proposed and its implement mechanism is analyzed and designed optimally. And then experiment system of exoskeleton robot and flexible PHMC mechanism is built. Based on experiment system, a performance evaluation method on PHMC is developed, and identification of human body parameter and joint alignment error based on the proposed PHMC is implemented. These researches may explore new directions for exoskeleton robot and even biological-mechanical system, and seek breakthrough of relative key scientific and technical issues, which build the foundation for the further practical application of exoskeleton assisted walking robot.

英文关键词： Exoskeleton assisted walking robot;human robot physical interaction;Rigid and flexible couple;Optimal design