助老柔性外骨骼多关节驱动平台的设计与控制

DESIGN AND CONTROL OF EXOSUIT MULTI-JOINT DRIVE PLATFORM FOR THE ELDERLY

马亮

11649098

硕士

机械电子工程

付成龙

2018-06-08

2018-07-05

哈尔滨工业大学

深圳

随着年龄的增长，老年人肌肉含量减少，肌肉整体性能降低，使得老年人上下楼梯困难，严重影响其晚年生活质量。柔性外骨骼有望对有行走障碍的人进行下肢关节助力，来恢复其行走能力、扩大其活动范围、延长运动年限。本论文对柔性外骨骼的柔性驱动形式和与之匹配的行走控制方法两方面进行了研究，提出一种助老柔性外骨骼及其多关节驱动控制平台。论文主要研究工作如下：（1）设计了对踝关节和膝关节进行助力的助老柔性外骨骼穿戴结构，建立了助老柔性外骨骼人机刚度模型。结合膝、踝等下肢关节的解剖学构造、下肢运动模式以及生物力学数据，设计了基于电机-线缆-纤维织物的柔性外骨骼穿戴结构。通过实验得到的助老柔性外骨骼各部分的组合刚度,为后续柔性外骨骼的控制系统的搭建提供了数据基础。（2）提出了以脚着地时刻及脚离地时刻来判断上下楼梯步态相位的方法。利用 IMU 采集人体膝、踝各关节的运动数据，将上下楼梯步态分为第一双支撑相、单支撑相、第二双支撑相、摆动相，并通过支撑足、对侧足各时刻将上下楼梯步态相位与之对应。（3）设计了可提供多关节助力，加快控制算法开发效率的助老柔性外骨骼多关节驱动平台系统。助老柔性外骨骼多关节驱动平台控制系统由驱动盒及控制系统组成等构成。助老柔性外骨骼多关节驱动平台驱动盒可使电机的旋转运动可转换为线缆的直线运动，从而实现对助老柔性外骨骼的驱动。助老柔性外骨骼多关节驱动平台系统采用基于导纳-位置开关控制器的助老柔性外骨骼的控制方法实现对助老柔性外骨骼的控制。（4）以助老柔性外骨骼多关节驱动平台为基础，进行了功能性测试实验及穿戴实验。功能性实验中的目标曲线跟随实验及阻抗控制实验，保证该系统稳定性、可靠性。膝关节穿戴实验证明了助老柔性外骨骼不会干扰人体自然步态，并且可以对膝关节产生助力。

With the increasement of age, the muscle content and performance of the elderly decreases, and the ability to walk slowly reduce, making it difficult for the elderly to go up and down the stairs, which seriously affects the quality of life in their later years. The flexible exoskeleton is expected to provide assistance to lower limbs for people with walking disabilities to restore their ability to walk, expand their range of activities, and extend their exercise years.This dissertation studies the flexible exoskeleton's flexible driving mode and its matching walking control method. It proposes a flexible exoskeleton and its multi-joint drive control platform. The main research work of the paper is as follows:(1) A flexible exoskeleton wear structure was designed, and a flexible exoskeleton human-machine stiffness model for assisting the elderly was established. The flexible exoskeleton wear research based on motor-cable-fiber fabric was performed based on the anatomical structures of lower limb joints such as knees and ankles, lower limb movement patterns, and biomechanical data. The combined stiffness of the various parts of the assisted and flexible exoskeleton obtained through experiments provides the data for the subsequent flexible exoskeleton control system.(2) The method of judging the gait phase of the stairs up and down is proposed based on the time of foot landing and the time of feet off the stairs. The IMU is used to collect the motion data of the human knee and ankle joints, and the stance of the ascending and descending stairs is divided into a first double support phase, a single support phase, a second double support phase, and a swing phase. The gait phase up and down the stairs is corresponded to these two times of the support foot and the contralateral foot.(3) A flexible and exoskeletal multi-joint drive platform system was designed to provide multi-joint boost and speed up the development of control algorithms. The auxiliary flexible exoskeleton multi-joint drive platform control system consists of a drive box and a control system. Helping the old flexible exoskeleton multi-joint drive platform drive box allows the motor's rotational motion to be converted into a linear motion of the cable, thus enabling the driving of the flexible exoskeleton. The assistedelastic flexible exoskeleton multi-joint drive platform system uses a control method of an assisting-elastic flexible exoskeleton based on an admittance-position switch controller to realize control of an assisting-elastic flexible exoskeleton. (4) Functional test experiments and wear experiments were performed based on the multi-joint drive platform for assisting old flexible exoskeletons. The target curve following experiment and impedance control experiment in the functional experiment ensure the stability and reliability of the system. Knee wear experiments have shown that assisting the old flexible exoskeleton does not interfere with the natural gait of the human body, and can help the knee joint.

柔性外骨骼 上下楼梯助力 步态相位识别 Simulink Real-time

Flexible exosuit Up-down stair assistting Gait phase recognition Simulink Real-time

中文

联合培养

南方科技大学

马亮. 助老柔性外骨骼多关节驱动平台的设计与控制[D]. 深圳. 哈尔滨工业大学,2018.