本文選題：下肢外骨骼 + 機(jī)構(gòu)設(shè)計(jì)��； 參考：《東南大學(xué)》2016年博士論文

【摘要】：外骨骼是一種能夠增強(qiáng)人體力量與耐力的機(jī)械裝置,并聯(lián)穿戴于人體外側(cè),通過(guò)陀螺儀、關(guān)節(jié)電位器或編碼器、人機(jī)交互力及足底力傳感系統(tǒng)等實(shí)時(shí)檢測(cè)外骨骼本身的位姿與人體的運(yùn)動(dòng)意圖,通過(guò)電機(jī)、液壓等方式驅(qū)動(dòng)各關(guān)節(jié),實(shí)現(xiàn)與人體的協(xié)調(diào)運(yùn)動(dòng),并在這個(gè)過(guò)程對(duì)人體的運(yùn)動(dòng)進(jìn)行助力,達(dá)成增強(qiáng)人體力量或輔助人體運(yùn)動(dòng)的目標(biāo)。人體負(fù)責(zé)發(fā)出運(yùn)動(dòng)意圖并保持運(yùn)動(dòng)穩(wěn)定,外骨骼則根據(jù)人體的運(yùn)動(dòng)意圖做出與人體協(xié)調(diào)的動(dòng)作并承擔(dān)負(fù)載,通過(guò)這種方式將人體的“智力”與外骨骼的“體力”結(jié)合到一起。目前,外骨骼具有諸多的應(yīng)用方向,例如：在助老助殘領(lǐng)域,可以幫助老年人或殘疾人完成行走、上/下樓梯等日常行動(dòng),提高他們的生活質(zhì)量；在醫(yī)療領(lǐng)域,可以輔助醫(yī)護(hù)人員對(duì)腦卒中或者肢體傷病患者進(jìn)行更高精度、更高可重復(fù)性的康復(fù)訓(xùn)練,一方面可以極大減輕醫(yī)護(hù)人員的工作強(qiáng)度,另一方面可以根據(jù)患者的恢復(fù)情況及時(shí)調(diào)整外骨骼的控制策略以適應(yīng)不同的訓(xùn)練模式；在負(fù)重搬運(yùn)與單兵系統(tǒng)領(lǐng)域,可以幫助工作人員或者士兵背負(fù)或攜帶更多的通信設(shè)備、施工器材或者武器彈藥等進(jìn)行快速的行進(jìn),同時(shí)降低因?yàn)榫薮蟮捏w能消耗造成的人員受傷或者非戰(zhàn)斗減員等人力資源損失。本文的研究目標(biāo)即為士兵或救援人員等負(fù)重作業(yè)者設(shè)計(jì)一種能夠配合使用者完成行走、蹲下/站起、上/下樓梯等常見(jiàn)運(yùn)動(dòng)的下肢外骨骼系統(tǒng)。要求方便穿卸,盡量減少傳感器的數(shù)量以降低系統(tǒng)復(fù)雜性,不得在人體上布置或粘貼傳感器,對(duì)使用者的體型不敏感。為實(shí)現(xiàn)該目標(biāo),本文在如下5個(gè)方面進(jìn)行了研究：1.進(jìn)行了基于人體測(cè)量學(xué)的人體下肢運(yùn)動(dòng)學(xué)特性的研究。在課題組自行搭建的基于標(biāo)記點(diǎn)空間位置捕捉與三維坐標(biāo)重建的圖像采集測(cè)量系統(tǒng)上進(jìn)行了不同步速、不同負(fù)重的行走；上樓梯；蹲下、站起等步態(tài)測(cè)量實(shí)驗(yàn),通過(guò)實(shí)驗(yàn)數(shù)據(jù)總結(jié)了人體下肢各關(guān)節(jié)在上述各步態(tài)下的運(yùn)動(dòng)學(xué)特性。2.在人體下肢運(yùn)動(dòng)學(xué)分析的基礎(chǔ)上,對(duì)滿足各常見(jiàn)運(yùn)動(dòng)要求的下肢外骨骼各關(guān)節(jié)所具有的自由度進(jìn)行了分析,并進(jìn)行了下肢外骨骼的本體機(jī)構(gòu)(不含驅(qū)動(dòng)系統(tǒng))設(shè)計(jì)。建立了所設(shè)計(jì)的下肢外骨骼本體機(jī)構(gòu)的D-H運(yùn)動(dòng)學(xué)模型,通過(guò)運(yùn)動(dòng)學(xué)分析確定了外骨骼與人體的連接方式。3.通過(guò)對(duì)比典型外骨骼動(dòng)力學(xué)建模方法,提出了下肢外骨骼“二狀態(tài)”動(dòng)力學(xué)模型,即將下肢外骨骼的動(dòng)力學(xué)狀態(tài)分為“無(wú)擺動(dòng)腿”與“有擺動(dòng)腿”兩種,采用達(dá)朗伯-拉格朗日方程對(duì)這兩種狀態(tài)分別進(jìn)行建模。通過(guò)該模型,控制系統(tǒng)僅需檢測(cè)外骨骼各關(guān)節(jié)角度信號(hào)即可求得各部分的慣性力、系統(tǒng)的足底力以及ZMP等信息,有效地減少了所需的傳感器數(shù)量。此外,模型中消除了本不存在的支撐足足尖主動(dòng)驅(qū)動(dòng)自由度的影響,并通過(guò)MATLAB與Adams對(duì)比驗(yàn)證了模型正確性。利用該模型完成了不同負(fù)重、不同步速；上樓梯；蹲下、站起等常見(jiàn)運(yùn)動(dòng)的下肢外骨骼動(dòng)力學(xué)分析。4.根據(jù)下肢外骨骼動(dòng)力學(xué)計(jì)算結(jié)果,對(duì)滿足常見(jiàn)運(yùn)動(dòng)要求的下肢外骨骼各關(guān)節(jié)的驅(qū)動(dòng)特性進(jìn)行了分析,在此基礎(chǔ)上,模仿人體下肢肌肉骨骼系統(tǒng)為下肢外骨骼各關(guān)節(jié)的各主動(dòng)驅(qū)動(dòng)自由度配置了集成液壓-套索驅(qū)動(dòng)系統(tǒng),并進(jìn)行了優(yōu)化計(jì)算。為各關(guān)節(jié)的非主動(dòng)驅(qū)動(dòng)自由度配置了彈簧被動(dòng)驅(qū)動(dòng)系統(tǒng),并進(jìn)行了詳細(xì)的設(shè)計(jì)計(jì)算。最后,對(duì)裝配了驅(qū)動(dòng)系統(tǒng)的下肢外骨骼機(jī)構(gòu)進(jìn)行了關(guān)鍵部位的ANSYS受力校核,以保證結(jié)構(gòu)安全性。5.在對(duì)國(guó)內(nèi)外典型外骨骼控制方法的分析基礎(chǔ)上,針對(duì)擺動(dòng)腿提出了基于踝關(guān)節(jié)處人機(jī)位姿誤差的逆運(yùn)動(dòng)學(xué)運(yùn)動(dòng)規(guī)劃與基于動(dòng)力學(xué)模型的PD控制策略,針對(duì)支撐腿提出了基于穿戴者足底力CoP與外骨骼ZMP之間誤差的模糊運(yùn)動(dòng)規(guī)劃策略。控制系統(tǒng)通過(guò)足底力信號(hào)采用模糊算法識(shí)別每條腿的運(yùn)動(dòng)狀態(tài),并采用相應(yīng)的控制方法。對(duì)下肢外骨骼的傳感器系統(tǒng)進(jìn)行了設(shè)計(jì)與標(biāo)定,包括軀干姿態(tài)傳感器、關(guān)節(jié)電位器、踝關(guān)節(jié)處人機(jī)交互傳感器、鞋墊式足底力傳感器。最后,分別進(jìn)行了擺動(dòng)腿運(yùn)動(dòng)控制實(shí)驗(yàn)與支撐腿運(yùn)動(dòng)規(guī)劃實(shí)驗(yàn)。
[Abstract]:The exoskeleton is a kind of mechanical device can enhance the body strength and endurance, worn on the human body through the parallel lateral, gyroscope, joint potentiometer or encoder, motion pose and real-time detection of human interaction force and plantar pressure sensing system etc. the skeleton itself intention, through the motor, drive the hydraulic joint way of realization with the coordinated movement of the human body, and in the process of human motion to help enhance the body strength, reach or auxiliary human motion target. The human body is responsible for the issue of exercise intention and maintain stable movement, the exoskeleton is according to the movement of the human body and human intentions to make coordinated movements and bear the load, by this way the human "intelligence" exoskeleton "physical" together. At present, the exoskeleton has many applications, for example: in the elderly and the disabled, can help the elderly or disabled People walk up / down stairs, daily operations, improve their quality of life; in the medical field, can help the medical staff of higher accuracy for stroke or limb injury patients, higher repeatability of rehabilitation training, one can greatly reduce the work intensity of the medical staff, on the other hand can timely control strategy adjust the exoskeleton according to the recovery of patients to adapt to different training mode; in handling and loading of soldier system, can help the staff or soldiers carry or carry more communication equipment, construction equipment or weapons and ammunition were to move quickly and reduce because of the huge energy consumption caused by injuries or non combat attrition and human resources loss. The goal of this paper is the soldiers and rescue workers and other workers to design a load with the end user in Go down / up, the lower extremity exoskeleton system on / off the stairs of common sports. Try to reduce the requirements of convenient wear unloading, the number of sensors in order to reduce the complexity of the system, shall be installed in the body or paste sensor is not sensitive to the user's body. To achieve this goal, this paper in 5 aspects as follows study: 1. of the kinematic characteristics of human lower extremity anthropometry. Based on our research group based on the image acquisition and measurement system marking position capture and 3D reconstruction of the different speed, different weight-bearing walking up the stairs;; squat, stand up and gait measurement experiment, through the experimental data summary the basic characteristics of human.2. kinematics of lower limb joints in the gait analysis in lower limb kinematics on each joint to meet the requirements of the common motion of lower extremity exoskeleton The degrees of freedom are analyzed, and the body of the lower extremity exoskeleton (excluding drive system) design. Established D-H kinematics model of lower extremity exoskeleton body design, through the kinematics analysis to determine the exoskeleton body and the connection mode of.3. through the dynamic modeling method of comparison of typical exoskeleton, the lower extremity exoskeleton "two state" dynamic model, dynamic state is lower extremity exoskeleton is divided into "free swinging leg" and "swing leg" in two, using d'Alembert - Lagrange equation are carried out on the two kinds of modeling. Through this model, the control system only needs to detect the angle of each joint exoskeleton the signal can obtain the inertia force of each part of the system of plantar pressure and ZMP information, effectively reduce the number of sensors required. In addition, the model eliminates the absence of support for the tip The driving effect of degree of freedom, and the model is validated by comparison between MATLAB and Adams. By utilizing this model. The different load, different pace; stairs; squat,.4. analysis according to the results of the lower extremity exoskeleton dynamics of lower extremity exoskeleton up common motion dynamics, driving characteristics of each joint to meet the common requirements the lower extremity exoskeleton is analyzed, on this basis, imitate the human lower extremity musculoskeletal system for lower extremity exoskeleton joint drive each DOF configuration integrated hydraulic drive system and the lasso, the optimization calculation for each joint non active degrees of freedom configuration of the spring driven passive driving system, and the detailed design and calculation. Finally, the assembly of the lower extremity exoskeleton mechanism driving system are the key parts of the ANSYS force check, in order to ensure the structure safety in.5. Based on the analysis of foreign and domestic typical exoskeleton control method, the swing leg is proposed based on the inverse kinematics of the ankle joint motion planning human pose error and dynamic model of PD control strategy based on the supporting leg put forward fuzzy motion planning strategy error between the wearer and the exoskeleton foot force of CoP based on ZMP control. System uses the motion state of each leg through fuzzy recognition algorithm of plantar force signal, and the corresponding control method. The sensor system of the lower limb skeletal outside the design and calibration, including the torso posture sensor, ankle joint potentiometer, interactive sensor, the insole plantar pressure sensor. Finally, respectively of the swinging leg the motion control experiment and supporting leg motion planning experiments.

【學(xué)位授予單位】：東南大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：R318.1;TP242
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本文編號(hào)：1760739