穿戴式机器人的协调控制方法及其运动辅助机理

中国机械工程

穿戴式机器人的协调控制方法及其运动辅助机理

张霞1;钱蕾1;罗天洪1;陈仁祥1;桥本稔2

1.重庆交通大学机电与车辆工程学院，重庆，400074
2.日本信州大学机器人学科，长野，386-8567

出版日期:2017-08-25 发布日期:2017-08-24
基金资助:
国家自然科学基金资助项目(51505048,51305471)；
重庆市基础与前沿研究计划资助项目(cstc2016jcyjA0416) ；
重庆市教委科学技术项目(KJ1500526)
National Natural Science Foundation of China （No. 51505048,51305471）

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

ZHANG Xia1;QIAN Lei1;LUO Tianhong1;CHEN Renxiang1;HASHIMOTO Minoru2

1.Department of Mechatronics and Automobile Engineering,Chongqing Jiaotong University,Chongqing,400074
2.Robotics Institutes,Shinshu University,Nagano,386-8567

Online:2017-08-25 Published:2017-08-24
Supported by:
National Natural Science Foundation of China （No. 51505048,51305471）

摘要/Abstract

摘要： 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。

关键词: 穿戴式机器人, 协调控制方法, 运动辅助机理, 柔性, 中枢模式发生器

Abstract: 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.

Key words: wearable robot； coordination control method； motion assist mechanism； flexibility, central pattern generator(CPG)

中图分类号:

TP241

张霞1;钱蕾1;罗天洪1;陈仁祥1;桥本稔2. 穿戴式机器人的协调控制方法及其运动辅助机理[J]. 中国机械工程.

ZHANG Xia1;QIAN Lei1;LUO Tianhong1;CHEN Renxiang1;HASHIMOTO Minoru2. A Coordination Control Method for Wearable Robots and Its Motion Assist Mechanism[J]. China Mechanical Engineering.

参考文献

[1]RIENER R, LNENBURGER L, JEZERNIK S, et al. Patient-cooperative Strategies for Robot-aided treadmill Training: First Experimental Results[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2005, 13(3): 380-394.
[2]BANALA S K, KULPE A, AGRAWAL S K. A Powered Leg Orthosis for Gait Rehabilitation of Motor-impaired Patients[C]// IEEE International Conference on Robotics and Automation. Roma， 2007: 4140-4145.
[3]文忠, 钱晋武, 沈林勇, 等. 基于阻抗控制的步行康复训练机器人的轨迹自适应[J].机器人, 2011, 33(1):142-149.
WEN Zhong, QIAN Jinwu, SHEN Linyong, et al. Trajectory Adaptation for Impedance Control Based Walking Rehabilitation Training Robot[J]. Robot, 2011, 33(1):142-149.
[4]KASAOKA K, SANKAI Y. Predictive Control Estimation Operator's Intention for Stepping-up Motion by Exoskeleton Type Power Assist System HAL [C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Maui, 2001: 1578-1583.
[5]KIGUCHI K, QUAN Q. Muscle-model-oriented EMG-based Control of an Upper-limb Power-assist Exoskeleton with a Neuro-fuzzy Modifier [C]// Proc. of IEEE World Congress of Computational Intelligence. Hong Kong, 2008: 1179-1184.
[6]李金铭. 基于表面肌电信号的下肢康复机器人控制方法研究 [D]. 哈尔滨:哈尔滨工业大学,2013.
LI Jinming. Research on Controlling Methods of Lower Limb Rehabilitation Robot Based on sEMG[D]. Harbin: Harbin Institute of Technology, 2013.
[7]LEE S, SANKAI Y. Minimizing the Physical Stress by Virtual Impedance of Exoskeleton Robot in Swinging Motion with Power Assist System for Lower Limb [J]. Journal of the Japan Society of Mechanical Engineers, 2005, 71(705): 274-282.
[8]KAZEROONI H. The Berkeley Lower Extremity Exoskeleton (BLEEX) [J]. Field and Service Robotics, 2006, 25(1): 9-15.
[9]RAJASEKARAN V, ARANDA J， CASALS A， et al. An Adaptive Control Strategy for Postural Stability Using a Wearable Robot [J]. Robotics and Autonomous Systems, 2015, 73：16-23.
[10]OH S, BAEK E， SONG S K， et al. A Generalized Control Framework of Assistive Controllers and Its Application to Lower Limb Exoskeletons [J]. Robotics and Autonomous Systems, 2015, 73：68-77.
[11]李长鹏. 下肢外骨骼康复机器人控制策略研究[D]. 天津:河北工业大学,2013.
LI Changpeng. Research on Control Strategy of Lower Limbs Exoskeletons Rehabilitation Robot[D]. Tianjin: Hebei University of Technology, 2013.
[12]郑航明. 自主减重外骨骼下肢机器人的混合控制系统设计与实现[D]. 成都:电子科技大学, 2014.
ZHENG Hangming. Design and Implementation of a Hybrid Control System for Autonomous Carrying-load Lower Extremity Exoskeletons[D]. Chengdu:University of Electronics Science and Technology of China, 2014.
[13]MATSUOKA K. Sustained Oscillations Generated by Mutually Inhibiting Neurons with Adaptation [J]. Biological Cybernetics, 1985, 52: 367-376.
[14]GODLER I， HORIUCHI M， HASHIMOTO M， et al. Accuracy Improvement of Built-in Torque Sensing for Harmonic Drives [J]. IEEE/ASME Transactions on Mechatronics, 2000, 5(4): 360-366.

[1]	林超, 沈忠磊, 李坪洋, 郑山. 垂直型多级位移放大机构设计与力学解析建模[J]. 中国机械工程, 2021, 32(08): 908-915，937.
[2]	李西兴, 杨道明, 李鑫, 吴锐, . 基于混合遗传鲸鱼优化算法的柔性作业车间自动导引车融合调度方法[J]. 中国机械工程, 2021, 32(08): 938-950，986.
[3]	姚道金1;董文涛1;王晓明1;杨林2. 面向不平地面的双足欠驱动步行稳定控制[J]. 中国机械工程, 2021, 32(02): 180-187，194.
[4]	徐亭亭, 罗敏, 蒋佳骏, 王晶, 张佳贺. 管内可控铰接柔性结构双层接触非线性力学分析[J]. 中国机械工程, 2020, 31(15): 1798-1807,1814.
[5]	石章虎1,2,3;邓珍波1,2;罗勇1,2;毕修文1,2;殷国富2,4. 飞机零部件自适应装配系统研究[J]. 中国机械工程, 2020, 31(12): 1499-1503.
[6]	李益兵1,2;黄炜星1;吴锐1. 基于改进人工蜂群算法的多目标绿色柔性作业车间调度研究[J]. 中国机械工程, 2020, 31(11): 1344-1350,1385.
[7]	王昆鹏1,2;肖晓华1,2;朱海燕1,2;曾杰1,2. 柔性牵引器刚柔耦合动力学特征及结构优化[J]. 中国机械工程, 2020, 31(08): 915-923,930.
[8]	刘彩洁;徐志涛;张钦;张力菠;姚坤. 分时电价下基于NSGA-Ⅱ的柔性作业车间绿色调度[J]. 中国机械工程, 2020, 31(05): 576-585.
[9]	苏成阳;王志国. 基于网格曲面形状修改的柔性件装配偏差分析[J]. 中国机械工程, 2019, 30(19): 2294-2300.
[10]	陈志勇;张婷婷. 柔性基、柔性关节空间机械臂的运动混合控制[J]. 中国机械工程, 2019, 30(12): 1466-1473.
[11]	黄小琴1，2;陈力1，2. 存在死区的双柔杆空间机器人有限时间控制与抑振[J]. 中国机械工程, 2019, 30(10): 1212-1218.
[12]	李浩1,2;吴文江2,3;韩文业2,3;郭安1,2. 基于自适应前瞻和预测校正的实时柔性加减速控制算法[J]. 中国机械工程, 2019, 30(06): 690-699.
[13]	陈慧涛;常思勤;范爱民. 发动机电磁驱动配气机构性能试验[J]. 中国机械工程, 2019, 30(01): 2-8.
[14]	杨冬婧, 雷德明. [车间调度]新型蛙跳算法求解总能耗约束FJSP[J]. 中国机械工程, 2018, 29(22): 2682-2689.
[15]	刘庆玲;罗萍;于常娟. 新型直圆导角复合型多轴柔性铰链的柔度计算及其性能分析[J]. 中国机械工程, 2018, 29(20): 2479-2483.