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(哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001)

Dynamic Solution of the Lower Extremity Joint Torques in Man-machineSystem of Lower Extremity Exoskeleton

GUO Wei，YANG Congwei，DENG Jing，ZHA Fusheng

(State Key Laboratory of Robotic and System，Harbin Institute of Technology，Harbin 150001，China)

外骨骼机器人系统中人体下肢关节力矩动态解算

郭伟，杨丛为，邓静，查富生

(哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001)

Dynamic Solution of the Lower Extremity Joint Torques in Man-machineSystem of Lower Extremity Exoskeleton

GUO Wei，YANG Congwei，DENG Jing，ZHA Fusheng

(State Key Laboratory of Robotic and System，Harbin Institute of Technology，Harbin 150001，China)

摘要：利用下肢外骨骼关节位移传感器及惯性导航单元采集人体运动信息，计算获得下肢髋、膝关节的相对角度以及躯干的姿态和加速度，通过动力学逆解实时解算穿戴者运动所需的关节驱动力矩。在此过程中，利用人体五杆模型，对人体下肢的运动进行了运动学和动力学分析，通过Matlab/Simulink软件编程求解，得到了人体下肢关节在连续步态周期内关节力矩的变化，通过对比计算获得的支撑踝关节力矩值与足底力传感器实测值，证明了关节力矩求解方法的正确性，保障了外骨骼机器人能够根据此力矩对穿戴者提供助力。

关键词：下肢外骨骼；关节力矩；动力学；Matlab/Simulink

中图分类号：TP242．3

文献标识码：A

文章编号：1001-2257(2015)10-0071-05

收稿日期：2015-05-21

Abstract：The method uses joint displacement sensors and inertial navigation unit on lower extremity exoskeleton to collect human motion information. Gets the relative angle of hip，knee and the posture and acceleration of torso. With inverse dynamics real-time calculating the joint driving torque of the wearers. In the procedure，with the 5-bar human model the kinematics and dynamics of human limb’s movement were analyzed. By Matlab / Simulink programming to obtain the curve of the joint torque of human lower limb joints in successive gait cycle. In order to prove the Correctness of the result，compare the joint torque of supporting leg ankle solved by lagrange dynamics equations with the ankle torque which was calculated by the plantar force measured during the experiment，the feasibility of the solving method was proved. Exoskeleton robot assiste the wearer with the torques information.

作者简介：郭伟(1965-)，女，黑龙江哈尔滨人，教授，研究方向为微小型及仿生足式机器人；杨丛为(1991-)，男，安徽涡阳人，硕士研究生，研究方向为外骨骼机器人。

Key words：lower extremity exoskeleton；joints torque；dynamics；Matlab/Simulink

0引言

目前，最具有代表性的外骨骼机器人是加州大学伯克利分校开发的下肢骨骼服BLEEX和日本筑波大学研发的HAL。

利用人体下肢关节力矩信息对不同环境中下肢的运动步态特征分析已见于诸多文献。郝智秀等通过求解下肢关节力矩分析了不同足地界面对三维步态特征的影响，张瑞……