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浙江大学学报(工学版)
浙江大学学报(工学版)  2024, Vol. 58 Issue (4): 772-778    DOI: 10.3785/j.issn.1008-973X.2024.04.012
机械工程、能源工程     
基于力反馈导纳控制的踝关节柔性外骨骼
陈栋(),李伟达*(),张虹淼,李娟
1. 苏州大学 机电工程学院，江苏省先进机器人技术重点实验室，江苏 苏州 215021
Ankle flexible exoskeleton based on force feedback admittance control
Dong CHEN(),Weida LI*(),Hongmiao ZHANG,Juan LI
1. School of Mechanical and Electric Engineering, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou 215021, China
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摘要：

针对踝关节康复训练的需求，分析踝关节的运动机理，运用模块化驱动单元与鲍登线，设计轻量化、易穿戴的柔性踝关节外骨骼机器人，实现踝关节跖屈/背屈、内/外翻的运动辅助. 柔性外骨骼在背屈和跖屈阶段分别采用位置控制和力矩控制. 位置控制以传统PID为主；力矩控制以力为反馈信号，建立交互力差值与鲍登线内芯位移补偿之间的导纳模型. 通过Sigmoid变形函数实现导纳参数的动态调控，满足辅助力矩输出和人机交互柔顺性的需求. 实验结果表明，位置跟踪误差不超过0.46 cm，力输出误差为?1.5~1.5 N，能够满足人体康复训练的需求.
关键词： 踝关节;  康复训练;  柔性外骨骼;  力反馈;  导纳控制    
Abstract:

In response to the need for ankle rehabilitation training, a lightweight, easy-to-wear flexible ankle exoskeleton robot was designed using modular drive units and Bowden cables through analysis of ankle joint mechanics. The robot can provide assistance for ankle plantarflexion/dorsiflexion and inversion/eversion movements. Position control and torque control are used for flexible exoskeleton during the dorsiflexion and plantarflexion stages, respectively. Position control is mainly based on traditional proportional integral derivative(PID), while torque control uses force as a feedback signal to establish an admittance model between the interaction force difference and the Bowden cable core displacement compensation. The admittance parameters are dynamically adjusted through the Sigmoid deformation function to meet the requirements of assistive torque output and human-machine interaction compliance. Experimental data showed that the position tracking error was stable within 0.46 cm, and the force output error was stable within ?1.5-1.5 N, meeting the needs of human rehabilitation training.
Key words: ankle joint    rehabilitation training    flexible exoskeleton    force feedback    admittance control
收稿日期: 2023-04-13 出版日期: 2024-03-27
CLC:  TP 242  
通讯作者: 李伟达     E-mail: mini1624365292@outlook.com;hit_liweida@163.com
作者简介: 陈栋（1998—），男，硕士生，从事康复机器人研究. orcid.org/0009-0006-0184-4012. E-mail：mini1624365292@outlook.com
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陈栋
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引用本文:

陈栋,李伟达,张虹淼,李娟. 基于力反馈导纳控制的踝关节柔性外骨骼[J]. 浙江大学学报(工学版), 2024, 58(4): 772-778.

Dong CHEN,Weida LI,Hongmiao ZHANG,Juan LI. Ankle flexible exoskeleton based on force feedback admittance control. Journal of ZheJiang University (Engineering Science), 2024, 58(4): 772-778.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2024.04.012    或    https://www.zjujournals.com/eng/CN/Y2024/V58/I4/772

图 1  人体踝关节的基本运动类型
图 2  人体关节力矩分析
图 3  跖屈运动的辅助机构
图 4  内外翻及背屈运动的辅助机构
图 5  绳驱动单元结构组成
图 6  外骨骼样机整体展示
图 7  机器人坐标系及运动学分析示意图
图 8  鲍登线拉力与位移数学模型示意图
图 9  鲍登线期望力与位移曲线
图 10  鲍登线偏移补偿
图 11  基于力反馈的导纳控制框图
图 12  导纳参数的自适应曲线
图 13  跑步机行走实验
图 14  内芯位移随时间变化的曲线
图 15  跖屈阶段的力变化曲线
图 16  背屈阶段的内芯位移曲线
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