外骨骼机器人类型与关键技术分析
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摘要
随着科技水平的不断进步,各技术行业都得到了迅速发展。在此背景下,人们希望设计出一种辅助人体动作,以达到提升人体运动能力或帮助人体肢体进行康复的机械装置,因此,外骨骼机器人应运而生。外骨骼机器人是一种可穿戴的智能化机械装置,应用人机工程学、仿生学等相关知识将人与机器人结合在一起,实现人与机器人的优势互补,拥有巨大的发展潜力。本文首先介绍了外骨骼机器人的类型,然后从外骨骼机器人构型、驱动技术、控制技术等方面入手,介绍了外骨骼机器人关键技术,最后在此基础之上,展望未来外骨骼机器人的发展趋势。
With the continuous progress of science and technology, various technology industries have developed rapidly. In this context, people hope to design a mechanical device to assist human motion in order to improve human motion ability or help human limbs to recover. Therefore, exoskeleton robots emerge as the times require. Exoskeleton robot is a kind of wearable intelligent mechanical device. It combines human and robot by using ergonomics, bionics and other related knowledge to realize complementary advantages between human and robot, and has great development potential. Firstly, the types of exoskeleton robots were introduced. Then, the key technologies of exoskeleton robots were introduced from the aspects of configuration, driving technology and control technology of exoskeleton robots. Finally, based on this, the development trend of exoskeleton robots in the future was prospected.
With the continuous progress of science and technology, various technology industries have developed rapidly. In this context, people hope to design a mechanical device to assist human motion in order to improve human motion ability or help human limbs to recover. Therefore, exoskeleton robots emerge as the times require. Exoskeleton robot is a kind of wearable intelligent mechanical device. It combines human and robot by using ergonomics, bionics and other related knowledge to realize complementary advantages between human and robot, and has great development potential. Firstly, the types of exoskeleton robots were introduced. Then, the key technologies of exoskeleton robots were introduced from the aspects of configuration, driving technology and control technology of exoskeleton robots. Finally, based on this, the development trend of exoskeleton robots in the future was prospected.
引文
[1]环球网.这个肌电外骨骼可以读懂你的动作意图[EB/OL].(2017-01-29)[2019-01-01].http://tech.huanqiu.com/news/2017-01/10038144.html.
[2]张邵敏.康复用下肢外骨骼系统仿生步态规划方法研究[D].深圳:中国科学院深圳先进技术研究院,2016.
[3]Tsukahara A,Hasegawa Y,Eguchi K,et al. Restoration of Gait for Spinal Cord Injury Patients Using HAL with Intention Estimator for Preferable Swing Speed[J]. IEEE Transactions on Neural Systems&Rehabilitation Engineering,2015(2):308-318.
[4]Ha K H,Murray S A, Goldfarb M. An Approach for the Cooperative Control of FES With a Powered Exoskeleton During Level Walking for Persons With Paraplegia[J]. IEEE Transactions on Neural Systems&Rehabilitation Engineering,2016(4):455-466.
[5]Kazerooni H,Steger R,Huang L. Hybrid control of the Berkeley Lower Extremity Exoskeleton(BLEEX)[J]. IEEE/ASME Transactions on Mechatronics,2006(2):128-138.
[6]Yuan P,Wang T,Ma F,et al. Key Technologies and Prospects of Individual Combat Exoskeleton[C]//International Conference on Seventh International Conference on Intelligent System&Knowledge Engineering. 2012.
[7]Yoshimitsu T,Yamamoto K. Development of a power assist suit for nursing work[C]//Sice Conference. 2005.
[8]Chen D,Meng N,Zhang B,et al. Control strategy of the lower-limb exoskeleton based on the EMG signals[C]//IEEE International Conference on Robotics&Biomimetics. 2015.
[9]Chen F,Yu Y,Ge Y,et al. WPAL for human power assist during walking using dynamic equation[C]//International Conference on Mechatronics&Automation. 2009.
[10]Costa N,Bezdicek M,Brown M,et al.Joint motion control of a powered lower limb orthosis for rehabilitation[J]. International Journal of Automation and Computing,2006(3):271-281.
[11]隋立明,张立励.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011(9):1244-1248.
[12]刘燕平,陈美云.Lokomat下肢康复机器人对改善帕金森病患者步行能力的疗效研究[J].中国康复,2017(1):30-32.
[13]Talaty M,Esquenazi A,Briceno J E. Differentiating ability in users of the ReWalkTM powered exoskeleton:An analysis of walking kinematics[C]//IEEE International Conference on Rehabilitation Robotics. IEEE Int Conf Rehabil Robot,2013.
[14]张志明.下肢外骨骼人机交互信息感知与协调运动控制的研究[D].哈尔滨:哈尔滨工业大学,2016.
[15]李坦东,王收军,侍才洪,等.穿戴式外骨骼机器人的研究现状及趋势[J].医疗卫生装备,2016(9):116-119.
[16]Caesarendra W,Lekson S U,Mustaqim K A,et al. A classification method of hand EMG signals based on principal component analysis and artificial neural network[C]//International Conference on Instrumentation, Control and Automation. IEEE,2017.
[17]唐智川,孙守迁,张克俊.基于运动想象脑电信号分类的上肢康复外骨骼控制方法研究[J].机械工程学报,2017(10):60-69.
[2]张邵敏.康复用下肢外骨骼系统仿生步态规划方法研究[D].深圳:中国科学院深圳先进技术研究院,2016.
[3]Tsukahara A,Hasegawa Y,Eguchi K,et al. Restoration of Gait for Spinal Cord Injury Patients Using HAL with Intention Estimator for Preferable Swing Speed[J]. IEEE Transactions on Neural Systems&Rehabilitation Engineering,2015(2):308-318.
[4]Ha K H,Murray S A, Goldfarb M. An Approach for the Cooperative Control of FES With a Powered Exoskeleton During Level Walking for Persons With Paraplegia[J]. IEEE Transactions on Neural Systems&Rehabilitation Engineering,2016(4):455-466.
[5]Kazerooni H,Steger R,Huang L. Hybrid control of the Berkeley Lower Extremity Exoskeleton(BLEEX)[J]. IEEE/ASME Transactions on Mechatronics,2006(2):128-138.
[6]Yuan P,Wang T,Ma F,et al. Key Technologies and Prospects of Individual Combat Exoskeleton[C]//International Conference on Seventh International Conference on Intelligent System&Knowledge Engineering. 2012.
[7]Yoshimitsu T,Yamamoto K. Development of a power assist suit for nursing work[C]//Sice Conference. 2005.
[8]Chen D,Meng N,Zhang B,et al. Control strategy of the lower-limb exoskeleton based on the EMG signals[C]//IEEE International Conference on Robotics&Biomimetics. 2015.
[9]Chen F,Yu Y,Ge Y,et al. WPAL for human power assist during walking using dynamic equation[C]//International Conference on Mechatronics&Automation. 2009.
[10]Costa N,Bezdicek M,Brown M,et al.Joint motion control of a powered lower limb orthosis for rehabilitation[J]. International Journal of Automation and Computing,2006(3):271-281.
[11]隋立明,张立励.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011(9):1244-1248.
[12]刘燕平,陈美云.Lokomat下肢康复机器人对改善帕金森病患者步行能力的疗效研究[J].中国康复,2017(1):30-32.
[13]Talaty M,Esquenazi A,Briceno J E. Differentiating ability in users of the ReWalkTM powered exoskeleton:An analysis of walking kinematics[C]//IEEE International Conference on Rehabilitation Robotics. IEEE Int Conf Rehabil Robot,2013.
[14]张志明.下肢外骨骼人机交互信息感知与协调运动控制的研究[D].哈尔滨:哈尔滨工业大学,2016.
[15]李坦东,王收军,侍才洪,等.穿戴式外骨骼机器人的研究现状及趋势[J].医疗卫生装备,2016(9):116-119.
[16]Caesarendra W,Lekson S U,Mustaqim K A,et al. A classification method of hand EMG signals based on principal component analysis and artificial neural network[C]//International Conference on Instrumentation, Control and Automation. IEEE,2017.
[17]唐智川,孙守迁,张克俊.基于运动想象脑电信号分类的上肢康复外骨骼控制方法研究[J].机械工程学报,2017(10):60-69.