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摘要: 针对膝关节外骨骼机械腿运动过程中对操作者的运动跟随问题，提出了一种基于导纳原理的等效惯量补偿控制方法.设计导纳控制器将外骨骼与操作者间的交互力矩转化为期望的运动轨迹；通过低通滤波加速度与惯量增益的乘积形成的闭环反馈实现等效惯量补偿；结合腿部肌肉表面肌电信号进行人体摆腿运动换向的预判，实施膝关节外骨骼机械腿的摆动控制，实验结果表明，膝关节外骨骼与受试者之间的关节角度相对误差为±12%，膝关节外骨骼机械腿对受试者的摆腿运动能实现较好的运动跟随.Abstract: To solve the problem of the operator's movement tracking during the rehabilitation training of knee joint exoskeleton, an emulated inertia compensation control method is presented, which is based on admittance control. An admittance controller that can convert the interactive torque between exoskeleton and operator to the desired trajectory is designed. A closed-loop feedback is given by the product of the low-pass filtering acceleration and inertia gain to achieve the emulated inertia compensation. Combined with the leg muscle surface EMG signal, the reverse of leg swing movement is distinguished, and then the implementation of the knee joint exoskeleton's swing control is done. Experimental results show that the relative error of joint angle is ±12%, and that the knee joint exoskeleton can pursuit the operators movement very well.1) 本文责任编委 赵新刚
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图 3 基于惯量补偿的导纳控制系统图
Fig. 3 The admittance control block diagram based on emulated inertia compensation
图 4 开环传递函数$Y_{e}^{p}(s)Z_{h}(s)$的幅值相位图
Fig. 4 Frequency-response plots of the open loop transfer function $Y_{e}^{p}(s)Z_{h}(s)$
图 5 耦合人腿的外骨骼闭环系统$Y_{e}^{h}(s)$的幅值相位图
Fig. 5 Frequency-response plots of the close loop transfer function $Y_{e}^{h}(s)$ of the coupled human limb-exoskeleton system
图 7 股二头肌及股四头肌的肌电信号与膝关节角度变化关系图
Fig. 7 EMG single of the biceps and quadriceps femoris muscle and knee joint angle
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