行走助力型下肢外骨骼机器人的设计与控制

针对行走助力需求,通过对人体下肢结构与运动特征进行分析,采用模块化的方法设计了一款下肢助力外骨骼机器人。考虑不同场景穿戴者的运动特点,基于该系统设计了主动助力与随动跟踪2种控制模式。行走实验表明,该下肢外骨骼机器人既可以实现负重助行的功能,也能对目标关节轨迹进行快速的跟踪而不阻碍穿戴者的正常运动。

Design and Control of a Lower Limb Exoskeleton Robot

Based on the analysis of the structure and gait characteristics of human lower limbs , an assistive lower limb exoskeleton robot was designed throughmodular method to assist people walking.Two control modes : active assistance mode and motion-following mode were designed based on the system according to the gait characteristics of the wearer in different scenarios , two control modes , active assistance mode and motion-following mode , were designed based on the system.The experiment shows that the lower limb exoskeleton robot can not only assist walking , but also follow the target joint trajectory quickly without impeding the movement of the wearer.