Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
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利用移动三转、棱柱、旋转并联机械手的小腿步态仿真器的可行性设计和控制
DOI：
10.1115/1.4053825
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Rastgaar, M.
中科院分区：
文献类型：
--
作者：
Soliman, A.;Ribeiro, G. A.;Gan, D.;Rastgaar, M.
下肢机器人假肢的设计和控制是一项迭代任务，将从自主复制现实步态条件的测试平台中受益匪浅。设计了一种新型可移动三自由度(DOF)并联机器人，在矢状面上模拟人体步态，设计了一种基于移动基座的可移动三自由度并联机器人。集成的移动基座提供了沿步态方向更宽的工作空间运动范围，并降低了对并联机器人执行器和连杆的要求。并联机械手的设计是最优的，可以使用商业上可用的直线驱动器来生成具有运动和力要求的定义步态轨迹。与传统的PID控制相比，结合比例积分微分控制的主动力控制在误差减小方面提供了更好的控制效果。这项工作的新颖性包括面向人类数据的最优机构设计方法和移动并联机器人的概念，以大大减少对执行器的要求，扩展并联机器人的平移工作空间，允许在仪表式走道或与仪表式跑步机集成的情况下评估假肢。
Design and control of lower extremity robotic prostheses are iterative tasks that would greatly benefit from testing platforms that would autonomously replicate realistic gait conditions. This paper presents the design of a novel mobile 3-degree-of-freedom (DOF) parallel manipulator integrated with a mobile base to emulate human gait for lower limb prosthesis evaluation in the sagittal plane. The integrated mobile base provides a wider workspace range of motion along the gait direction and reduces the requirement of the parallel manipulator’s actuators and links. The parallel manipulator design is optimal to generate the defined gait trajectories with both motion and force requirements using commercially available linear actuators. An integrated active force control with proportional integral derivative (PID) control provided more desirable control compared to traditional PID control in terms of error reduction. The novelty of the work includes the methodology of human data-oriented optimal mechanism design and the concept of a mobile parallel robot to extend the translational workspace of the parallel manipulator with substantially reduced actuator requirements, allowing the evaluation of prostheses in instrumented walkways or integrated with instrumented treadmills.