基于能量优化的外骨骼可控刚度串联弹性执行器研究

项目名称： 基于能量优化的外骨骼可控刚度串联弹性执行器研究

项目编号： No.51275170

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 曹恒

作者单位： 华东理工大学

项目金额： 80万元

中文摘要： 可穿戴两足助力机器人（外骨骼）用于救灾救援和助老助残，以往研究多为无载或轻载条件。为了改善外骨骼重载状态下的步态失稳现象和提高动作柔顺性，提出研究改善关节柔顺性的可变刚度执行器控制方法。为此提出一种新的基于能量优化的可控刚度的柔性执行器结构模型，与其它变刚度控制模型的区别，是通过能量优化分析用一簇被动力弹性结构虚拟了非线性的主动控制力作用，增加控制系统的带宽和稳定性裕度，提高关节控制的柔顺性，同时具有更大的结构抗冲击能力。本研究期望达到：（1）建立一种新的基于能量优化的机器人关节可控刚度执行器阻抗控制模型；（2）提出改善外骨骼柔顺性的阻抗控制算法，针对人体自身的生物学特性，探索在阻抗控制中刚度矩阵的调节规律；（3）实现一种新的具有能量优化特点的可变刚度关节执行器结构和原型样机。因此该研究具有非常重要的科学理论意义和重大的救灾救援与助残助老社会价值。

中文关键词： 可控刚度执行器；柔顺控制；阻抗控制；外骨骼；

英文摘要： Most of previous studies on the wearable biped assist robot, or called exoskeleton, which is used for disaster relief or aiding to the aged and the disabled, are under the conditions of unloaded or light-loaded. To improve the gait stability and the compliance of exoskeleton with heavy load, research on control method of actuator with controllable stiffness is needed. A novel structure model of compliant actuator with controllable stiffness control will be presented. Compared to the other kinds of variable stiffness models, by using a group of power optimized passive elastic component to mimic the effect of the nonlinear active control force, this model can increase the bandwidth and the margin of stability of control, improve the compliance of joint control and the impact resist of structure. Following points will be addressed: (1) A new impedance control model of compliance actuator with controllable stiffness which is applied to robot joint based on energy optimization will be presented. (2) A kind of impedance control method that can improve the compliance of exoskeleton will be presented. According to biological characteristics of human, the regulation law of stiffness matrix belongs to the impedance control will be explored. (3)A novel power optimized design and prototype of joint actuator with controllab

英文关键词： variable stiffness actuator；compliance control；impedance control；exoskeleton；