重载携行系统中基于人机行为交互的主从任务协同控制方法研究

项目名称： 重载携行系统中基于人机行为交互的主从任务协同控制方法研究

项目编号： No.61305092

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 郭庆

作者单位： 电子科技大学

项目金额： 24万元

中文摘要： 人机重载携行系统，是一种基于可穿戴式力量增强型仿生外骨骼动力系统，主要应用于士兵高原山地作业和部队装备后勤保障，提高士兵携行负荷以及部队作战物资的前线运送能力。为了解决携行装置难以跟随人体复杂步态运动规律的瓶颈问题，本项目结合人体PMAS（位姿、运动、动作、风格）行为理论与机器学习决策理论，对高度人机耦合携行条件下动作模式及其步态相位识别方法进行研究，以揭示人机重载携行系统中的人机行为交互机理。同时提出一种人机主从任务协同控制策略，采用人机阻抗约束力和液压助力的协同控制方法实现并进行试验论证，阐明在重载携行过程中"人主导外骨骼运动，外骨骼助力随动"和"外骨骼主导人运动，人自身调整以适应外骨骼"的任务协同机制，为人机重载携行系统的实用化奠定基础。

中文关键词： 外骨骼；人机耦合；步态感知；泵阀联合控制；人机协同运动

英文摘要： Human-machine overload-carrying portable system(HMOCPS) is a wearable strength-enlargement bionic exoskeleton power system.It can be used in high and upland area task to improve the soldier's power of overload-carrying. Also, it can be used in safeguard for military equip of logistic system to improve the capability of transporting martial material to front line. It is impossibly for protable device to following the gait law of individual complicated motion. Aim at the solution of this key problem, this topic integrates human behavior theory, i.e. pose-motion-action-style(PMAS) with machine-learning decision theory to identify individual operation mode and gait phase in intensive human-machine coupling condition. Therefore, it is revealed for the mechanism of human-machine interactive behavior. At the same time, a cooperative control strategy is presented to aim at the human-machine active-passive task. This strategy as well as its experimental validatation can be carry out using the cooperating conrol method of human-machine impedance sanction with the control method of hydraulic power-aid. The mechanism of cooperative task in overload-carrying condition is illustrated, which has 2 meanings: "the dominant motion of human is primary, the followed motion of power-aid exoskeleton is secondary" and "the dominant mo

英文关键词： exoskeleton；human-machine coupling；gait identification；pump-servo combined control；human-machine cooperated motion