High-performance intelligent biorobotics and assistive locomotion

随着基础机电一体化技术的不断发展，能够模仿生物运动或增强人类机动性的智能机器或一般生物机器人的发展正在迅速发展。然而，这些机器在稳定性、健壮性、智能和能源效率方面远不如生物系统。本研究受到生物系统的启发，旨在通过最优运动规划、智能学习控制器和利用机械系统的被动动态运动来优化有腿机器人的性能。由于双足运动在生物医学和人体动力学科学中的重要意义，因此被选为主要焦点。通过离线多准则优化过程或通过简单的动力学调节，两足行走将获得节能且稳定的步态。将设计一种新的学习控制策略，适用于不平坦地形上的双足运动和船舶甲板等移动地面上的姿势稳定性。本研究还旨在利用被动动态原理开发新型高效两足动物和可穿戴设备，这些设备带有智能控制器，可以用作助行器。设计了一种单自由度柔性膝关节辅助装置，用于研究智能学习控制器和能量学改进。EMG（肌电图）信号和用户交互力在反馈控制器中使用，以确定所需的扭矩，以安全的方式增加不同用户的膝关节功率。与渥太华医院康复中心的合作将确保结果的适用性，从而改善许多有行走困难的加拿大人的生活质量。

The development of intelligent machines that can mimic biological locomotion or enhance human mobility, or biorobotics in general, is undergoing a rapid growth as the underlying mechatronic technologies are evolving. However, these machines are far less optimal than biological systems in terms of their stability, robustness, intelligence, and energy efficiency. This research, inspired by biological systems, aims at optimizing the performance of legged robots through optimal motion planning, intelligent learning controllers and exploiting passive dynamic motions of mechanical systems. Bipedal locomotion, due to its significance to biomedical and human kinetic sciences, has been selected as the main focus. Energy-efficient and stable gaits will be obtained from bipedal walking, through off-line an off-line multi-criteria optimization process or through modulating simple dynamics. A new learning control strategy will be devised that will be applicable to biped locomotion on uneven terrains and postural stability on moving grounds such as ship boards. This research also aims at using the passive dynamic principles to develop new classes of efficient bipeds and wearable devices with intelligent controllers that can be used as walking aids. A single-degree-of-freedom compliant assistive device for knee joint will be realized to investigate intelligent learning controllers and improvements in energetics. The EMG (Electromyogram) signals and user interaction forces are used in a feedback controller to determine the required torques to augment the knee power in a safe fashion for different users. Collaborations with Ottawa Hospital's Rehabilitation Centre will ensure the applicability of the results which can improve the quality of life of many Canadians with walking difficulties.