行走能量回收的柔性下肢外骨骼混合助力机制与协调控制方法研究

批准号:
62003327
项目类别:
青年科学基金项目
资助金额:
24.0 万元
负责人:
曹武警
依托单位:
学科分类:
机器人学与智能系统
结题年份:
2023
批准年份:
2020
项目状态:
已结题
项目参与者:
曹武警
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中文摘要
柔性下肢外骨骼可助力人体行走,在军事和康复领域有良好的应用前景。增加续航时间、减轻整体重量、提高助力效率是柔性下肢外骨骼进一步发展的关键。本项目针对负重场景下的正常人行走助力,围绕“肌肉仿生的下肢关节运动能量高效回收机制”、“人机运动高度一致的混合驱动柔性下肢外骨骼助力效率提升策略”两个关键科学问题,研究行走能量回收的柔性下肢外骨骼混合助力机制与协调控制方法。包括:(1)基于下肢肌肉做功机理,将膝、踝负功运动作为发电动力源,回收能量并辅助关节减速,提高柔性下肢外骨骼续航能力;(2)通过髋关节主动驱动,踝关节被动助力实现行走增强,提出一种轻质高效的混合助力柔性下肢外骨骼设计方法;(3)通过多模态信息融合实时感知步态、负重变化,研究学习率动态更新的迭代学习力位控制方法,实现髋关节主动运动与机器助力的高度一致。开展本项目,将为续航长、穿戴性强、助力效率高的穿戴式柔性下肢外骨骼提供理论与方法支持。
英文摘要
The soft lower limb exoskeleton can provide walking assistance and shows good application prospect in the military and rehabilitation fields. The key of wearable soft lower limb exoskeleton is to increase the working time, reduce the total weight and improve the walking efficiency. This project aims at walking assistance of normal people during loaded condition. Scientific issues include muscle biomimetic lower limb joint motion energy harvesting mechanism with high efficiency and assistance improvement strategy of soft lower limb exoskeleton with highly consistent human-machine motion are addressed. The hybrid assistance mechanism and coordinated control method of the soft lower limb exoskeleton with walking energy harvesting are researched. The major contents are as follows: (1) According to the work mechanism of the lower limb joint, the motions of the knee and ankle with negative work are used as the power source of the energy harvester. Energy harvesting is realized to increase the endurance of the soft lower limb exoskeleton; (2) The hip joint with active assistance and ankle joint with passive assistance are adopted to realize walking augment, which provides a new design method for the soft lower limb exoskeleton with lightweight and high efficiency; (3) The real-time sensing of gait and load is realized through the multi-source information fusion. An iterative learning control method with dynamic updating of learning rate is proposed for force and position control. The high consistence of the hip joint motion and robot assistance is achieved. This project will provide theoretical and methodological support for novel soft lower limb exoskeleton with long endurance, strong portability and high efficiency.
期刊论文列表
专著列表
科研奖励列表
会议论文列表
专利列表
DOI:10.1016/j.mechmachtheory.2021.104519
发表时间:2021-08-20
期刊:MECHANISM AND MACHINE THEORY
影响因子:5.2
作者:Liu, Jingshuai;He, Yong;Wu, Xinyu
通讯作者:Wu, Xinyu
DOI:10.1109/tmech.2022.3157848
发表时间:2022-12
期刊:IEEE/ASME Transactions on Mechatronics
影响因子:--
作者:Xin Wu;Wujing Cao;Hongliu Yu;Zhewen Zhang;Yuquan Leng;Mingming Zhang
通讯作者:Xin Wu;Wujing Cao;Hongliu Yu;Zhewen Zhang;Yuquan Leng;Mingming Zhang
DOI:10.1109/tbcas.2022.3173965
发表时间:2022-06-01
期刊:IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS
影响因子:5.1
作者:Cao, Wujing;Ma, Yue;Wu, Xinyu
通讯作者:Wu, Xinyu
DOI:10.3390/app11125328
发表时间:2021-06
期刊:Applied Sciences
影响因子:--
作者:Zhewen Zhang;Hongliu Yu;Wujing Cao;Xiaoming Wang;Qiaoling Meng;Chunjie Chen
通讯作者:Zhewen Zhang;Hongliu Yu;Wujing Cao;Xiaoming Wang;Qiaoling Meng;Chunjie Chen
DOI:10.1109/tase.2020.3027748
发表时间:2021-04-01
期刊:IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
影响因子:5.6
作者:Cao, Wujing;Chen, Chunjie;Wu, Xinyu
通讯作者:Wu, Xinyu
脑瘫儿童蹲伏步态改善与体格成长自适应的柔性康复助行外骨骼研究
- 批准号:--
- 项目类别:省市级项目
- 资助金额:30.0万元
- 批准年份:2024
- 负责人:曹武警
- 依托单位:
人体肌骨工作机理仿生的刚柔结合助力下肢外骨骼
- 批准号:--
- 项目类别:省市级项目
- 资助金额:10.0万元
- 批准年份:2021
- 负责人:曹武警
- 依托单位:
国内基金
海外基金
