下肢外骨骼伺服电机驱动控制方案设计

介绍了可穿戴式下肢外骨骼运动总体控制方案。针对人体髋关节和膝关节运动机理,采用了盘式伺服电机驱动二自由度下肢外骨骼模拟人体下肢摆腿运动控制技术来提高关节运动的响应性能,同时利用4个三维力传感器分别测量人大腿和小腿与外骨骼相互作用力,可用于外骨骼“人主机辅”控制模式算法设计中。在外骨骼2个关节处利用编码器获得关节角度、角速度信息既可用于外骨骼拉格朗日模型参数辨识,也可以作为反馈控制信号用于外骨骼“机主人辅”控制模式中。下位机采用LabVIEW驱动NI主控器实现信号传输与控制,上位机采用MATLAB/Simulink环境设计反馈控制算法与下位机进行实时通信,保证可穿戴式下肢外骨骼能够完成两种运动控制模式的目标,同时提高试穿员的可穿戴舒适性。

Control Scheme Design of Lower Limb Exoskeleton Driven by Servo Motor

The motion control scheme of the wearable lower limb exoskeleton is introduced. To address the movement mechanism of human hip and knee joints, the disc servo motor is used to drive the 2-DOF lower limb exoskeleton to simulate the human lower limbs and improve the joint response performance. Four 3D force sensors are used to measure the corresponding contact forces between human and the exoskeleton in three directions, which are adopted in the control mode called human served by robot. The joint angle and angular velocity are obtained by the encoder can be used for the parameter identification of the exoskeleton lagrange model, or as a feedback control signal into the control modes (human dominated by robot) of the exoskeleton. The LabVIEW tool is adopted by the target computer to drive the NI controller for signal transmission and control. Meanwhile, via the MATLAB/Simulink tool, the feedback control algorithm is designed by the host computer to communicate with the lower computer in real time, which guarantees that the wearable lower extremity exoskeleton can achieve the goals of the two motion control modes, and to simultaneously improve the wearable comfort of the tester.