动力仿生腿的优化设计与控制

OPTIMAL DESIGN AND CONTROL OFPOWERED BIONIC LEG

丁涛喜

11649140

硕士

机械工程

付成龙

2018-06-08

2018-07-05

哈尔滨工业大学

深圳

商业化大腿假肢的出现，使腿部截肢患者拥有了重新行走的机会。然而现有商业假肢大多数为被动结构，结构简单，能在一定程度上帮助行走，但却需要截肢患者多消耗30%~60%的能量。截肢患者穿着被动假肢后步态不自然，难以完成上下楼梯以及蹲起等动作，且假肢没有对周围路况识别和自适性控制等功能。主动假肢能克服以上问题，更好的帮助截肢患者恢复行走能力。本论文结合人体生物力学研究成果，机器人控制技术以及视觉处理技术，设计出新一代动力仿生腿，论文的主要工作和成果如下：1) 分析了第一代仿生腿的优缺点，借鉴第一代仿生腿的设计优化方法，对仿生腿的踝关节的传动结构进行了改进。同时优化设计了膝关节的结构，使仿生腿的重量减轻，最后优化仿生腿的布线，设计出了第二代较为完善的仿生腿。2) 搭建了仿生腿的控制平台。基于动力仿生腿的结构设计，布置传感器及设计传感器电路，以基于 CANOpen2.0 协议的 CAN 总线作为主要的通讯方式，以National Instruments 生产的 CompactRIO 半嵌入式开发平台为处理单元，通过Elmo 驱动器对 Maxon 电机进行位置控制。3) 根据正常人行走过程中膝关节和踝关节的运动特点分割步态相位，设计了基于有限状态机的控制框架：根据有限状态机所处的状态，采取相应的控制思路和方法，复现了正常人行走中的踝关节-膝关节角度-力矩曲线，实现了机器人化大腿假肢的运动控制。4) 基于实验室关于深度相机对周围路况识别的研究，在此基础上使路况识别系统与动力仿生腿进行数据交互，设计实验方案实现仿生腿动作规划，使仿生腿具有跨越简单障碍物的能力。

The emergence of commercialized thigh prosthetics has given leg amputees the opportunity to walk again. However, most of the existing commercial prostheses are passive in structure. Their simple structure can help to walk in a certain extent, but it takes amputees to consume 30%~60% more energy. The gait of amputee is not natural, it is difficult for them to complete the actions such as going up and down the stairs or picking up. Moreover, the prosthesis does not have the functions of recognizing the surrounding road conditions, adaptive control or other functions. Active prostheses can overcome the above problems and better help amputees recover their walking ability.In this paper, a new generation of dynamic bionic legs is designed based on the achievements of human biomechanical research, robot control technology and visual processing technology. The main work and results of the dissertation are as follows:(1) Analyze the advantages and disadvantages of the first-generation bionic leg and learn from the first-generation bionic leg’s design optimization method to improve the transmission structure of the bionic leg's ankle joint. At the same time, the structure of the knee joint is optimized and designed so that the weight of the bionic leg is reduced. Finally, the wiring of the bionic leg is optimized, and the second generation of a more functional bionic leg is obtained.(2) Built a control platform for the bionic leg. Based on the structural design of the dynamic bionic leg, the sensor is arranged, and the sensor circuit is designed. The CAN bus based on the CANOpen2.0 protocol is used as the main communication method. The CompactRIO semi-embedded development platform manufactured by National Instruments is used as the processing unit and control the action of Maxon motors through the communication with Elmo drivers.(3) According to the movement characteristics of the knee joint and the ankle joint during normal walking, the gait phase is segmented. Then, a control framework based on the finite state machine is designed: Based on the state of the finite state machine, the corresponding idea and method of control are conducted to reproduce the ankle-knee joint angle-moment curve in normal walking, and eventually control the movement of the robotic thigh prosthesis.(4) Based on the laboratory's research on the depth camera's recognition of the surrounding road conditions, make data interaction between the road condition recognition system and the powered bionic leg and design an experimental scheme to bionic leg motion planning so that the bionic leg could cross simple obstacles.

动力仿生腿 有限状态机 路况识别 自适性控制

dynamic bionic leg finite state machine road condition recognition adaptive control

中文

联合培养

南方科技大学

丁涛喜. 动力仿生腿的优化设计与控制[D]. 深圳. 哈尔滨工业大学,2018.