穿戴式机器人的协调控制方法及其运动辅助机理

为改善穿戴式机器人在运动辅助过程中的人机交互柔顺性，提出了一种以中枢模式发生器(CPG)为核心的协调控制方法，利用CPG自激行为和对外交流的特性获得理想的主/从关节目标轨迹，规避了运动学和动力学逆解算。结合仿真分析和物理实验研究，阐明了所提控制方法及其运动辅助机理、停止再运动等柔性运动产生机理。结果表明，该协调控制方法具有运动辅助效果，CPG自激行为和对外交流的特性可以获得理想的主/从关节目标轨迹，且CPG的衰减停振特性能够方便地生成停止再运动等柔性运动，极大地改善了机器人的人机交互柔顺性。

A Coordination Control Method for Wearable Robots and Its Motion Assist Mechanism

In order to improve flexibility in human-robot interaction (HRI) of a wearable robot, a novel notion of coordination control method was proposed using CPG. CPGs autonomous behavior and its outer-interaction mechanism were utilized to generate active/passive motion patterns of robot joints. Therefore, the inverse kinematics and inverse dynamics computations were avoided. Computer simulation analysis and physical experiments were carried out to explore the motion assist mechanism, stop and restart flexible movement generation mechanism. Results demonstrate that the coordination control method has motion assist effect, and active/passive motion patterns may be obtained due to CPGs autonomous behavior and its outer-interaction characteristics. CPGs attenuation features are able to generate stop and restart flexible motions, and thus improve robot flexibility in HRI environments.