摘要
在行走过程中,患者与外骨骼之间的交互力,决定了患者使用外骨骼的安全性、舒适度以及外骨骼的性能,因而在康复外骨骼的相关研究中受到广泛的关注.本文以可穿戴式的下肢康复外骨骼为研究对象,考虑了患者和外骨骼的耦合作用,给出了人机交互力模型,同时考虑了足底-地面接触力的影响,从而基于第一类拉格朗日方程建立了人机耦合的动力学模型.进一步,考虑患者在不同康复训练阶段的特点和实际需求,给出了相应的控制策略.特别地,在主动康复阶段,从人机交互力模型的角度,给出了基于人机交互力的外骨骼位置阻抗控制中参考轨迹修正量的实际物理解释,并且设计了阻抗PID控制策略.仿真结果表明,使用人机耦合的动力学模型,能够对人机交互力进行有效的分析;进一步,本文在康复训练的主动阶段所设计的控制策略,能够有效地降低人机交互力的水平.
During walking,interaction between patient and exoskeleton determines safety,comfort and performance of patients using the exoskeleton,which thus has attracted extensive attentions in related research of rehabilitation exoskeleton.In this paper,the wearable lower limb rehabilitation exoskeleton is investigated with the coupling effect between patient and exoskeleton being considered.The human-machine interaction force model is given with influences of foot-ground contact force being taken into account and thus the human-machine coupled dynamic model is established based on Lagrange equation of the first kind.Furthermore,considering the characteristics and actual needs of patients in different stages of rehabilitation training,corresponding control strategies are given.In particular,in active stage of rehabilitation,the actual physical interpretation of the reference trajectory correction in the exoskeleton position impedance control based on human-machine interaction force is given from the perspective of human-machine interaction dynamic model,and the impedance control PID controller is designed.The simulation results show that the human-machine interaction forces can be analyzed effectively by using the human-machine coupled dynamic model.Furthermore,the control strategy designed in active stage of rehabilitation training can effectively reduce the level of human-machine interaction force on the basis of ensuring a certain trajectory tracking accuracy.
作者
张佳俊
张舒
徐鉴
Zhang Jiajun;Zhang Shu;Xu Jian(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)
出处
《动力学与控制学报》
2021年第4期55-63,共9页
Journal of Dynamics and Control
基金
国家重点研发计划(2018YFC2001501)
国家自然科学基金资助项目(11872277,11932015)。
关键词
康复
下肢外骨骼
人机交互
动力学模型
控制
rehabilitation
lower limb exoskeleton
human-machine interaction
dynamic model
control
