可穿戴式气动减重步行助力并联机器人及其行走平衡控制的研究

项目名称： 可穿戴式气动减重步行助力并联机器人及其行走平衡控制的研究

项目编号： No.60875063

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 武器工业

项目作者： 吴海帆

作者单位： 大连理工大学

项目金额： 36万元

中文摘要： 针对当今老龄化社会缺乏老年人亟需的有效步行支援手段的现状,提出了采用具有平衡控制功能的可穿戴式气动并联机器人实现减重步行助力。设计并研制了机器人试验样机，开发了机器人控制系统。利用机器人试验样机，研究了在不同减重水平下人腿和并联机器人协同支撑体重时的并联机构设计方法和控制规律；研究了由人控制游动脚自由摆动产生的对整体重心的微调效应，建立了能够反映这种微调效应影响下的不同减重水平下的支撑脚并联机构的自动控制模型；针对双脚站立时的两个支撑脚并联机构，研究了在不同减重水平下因人体上身的动作而产生扰动情况下的平衡控制能力并建立了评价指标；研究了可穿戴式气动并联机器人的穿戴方法，以及保证穿着舒适的对策。本项目的研究为实现减重步行助力机器人技术提供设计理论和技术支持，具有重要的理论意义和实用价值。

中文关键词： 可穿戴式机器人；气动；步行助力；减重步行；并联机构

英文摘要： In order to provide an effective walking assist equipment for aging people with walking difficulties which will urgently needed in the near future as the rapid aging of our society, a wearable pneumatic walking assist robot using parallel mechanism which can partialy bearing the bodyweight and maintain gait balance is proposed.A prototype of the robot is developed and the control system is also developed. The optimum design of the parallel mechanism and its control algorism working together with human leg are studied under different weight bearing level; The effect of minute adjustment of the center of gravity of body caused by swing movement of swing leg is also studied, and the control algorism of pneumatic parallel mechanism wearing on supporting leg considering such effect is given; The unconscious upper body movement which is a source of disturbance to the gait balance is also studied, and the control algorism considering such effect is given; The evaluation indicator for gait balance is studied and given; The practical way to make the wearing of the pneumatic mechanism be comfortable and easy is also studied. In this study, the basic design theory and control algorism on a wearable pneumatic power parallel robot for partial weight bearing walking assist is established, and provide a good base for the further research in the future.

英文关键词： wearable robot; pneumatic system; walking assist; partial weight bearing walking; parallel mechanism