摘要
为实现踝关节的运动助力,针对踝关节运动过程角度变化快、运动自由度多的特点,本文提出了一种基于多支链空间连杆机构的主动助力外骨骼,通过电机带动丝杆传动并组合空间连杆机构的设计方式,实现了踝关节主动的背屈/跖屈及从动的内收/外展,旨在提高踝关节外骨骼运动跟随的协调性,减少其对穿戴者运动自由度的限制。基于脚底测力系统进行步态识别,采用运动状态机对踝关节助力外骨骼进行分层控制策略研究。并对踝关节进行运动实验测试及助力评估。实验结果表明,踝关节外骨骼的有效助力范围(跖屈30°~背屈20°,内收35°~外展15°)能够满足正常行走需求,具有良好的运动跟随性(角度误差≤2°),受试者小腿肌电信号明显衰减,减幅均值可达28.91%,可实现有效助力。
Aimed at the characteristics of the ankle joint like quick-change-of-angle and multi-degree-of-freedom,we propose an active booster exoskeleton based on a multi-branch spatial linkage mechanism to assist the movement of ankle joint.The exoskeleton is driven by motor combined with a spatial linkage mechanism to achieve the active dorsiflexion/plantar flexion and adduction/abduction motion of the ankle joint for the purpose of locomotion assistance.The corresponding aim is to improve the coordination of ankle exoskeleton movement following and reduce the restricted freedom of movement on the wearer.Furthermore,gait recognition based on foot force measurement system and hierarchical control strategy using a motor state machine for ankle-assisted exoskeletons have been studied.The ankle joint was tested and assisted in the evaluation.The test results show that the effective power range of the ankle exoskeleton(plantar flexion 30°~dorsiflexion 20°,adduction 35°~abduction 15°)can meet the needs of normal walking with the good motion following(Angle error≤2°)for the exoskeleton and the significantly attenuated lower leg EMG of the subjects by 28.91%,which can provide effective power.
作者
韩亚丽
韩子瑒
金壮壮
徐闽海
吴应达
Han Yali;Han Ziyang;Jin Zhuangzhuang;Xu Minhai;Wu Yingda(Department of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2023年第11期109-118,共10页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(52375292)
江苏省重点研发项目(BE2019724)资助
关键词
踝关节助力外骨骼
步态识别
有限状态机
ankle-assisted exoskeleton
gait recognition
finite state machine
