| Exoskeleton robots that can be worn on a human body and provide additional strength,speed or other abilities.With the development of military revolution,all countries are studying the integrated combat system of individual soldiers.Soldiers are carrying more and more high-tech weapons and equipment,which directly affects the physical health and combat ability of soldiers.The use of exoskeletons helps soldiers carry loads while reducing weight and fatigue.At the same time,exoskeleton robots also have broad application scenarios in civil fields,such as medical rehabilitation,logistics and transport,rescue and disaster relief.In order to satisfy the daily assisted wearing coordination and comfort,this paper studies the human-robot fusion characteristics of exoskeleton robot.In order to satisfy the coordination of man-robot movement and the comfort of wearing,the shape and mechanical structure of the exoskeleton robot are designed by imitating the human body shape using the principle of bionics.Analyze the activity of human lower limbs,design joint structure and joint driving mode.In order to satisfy the motion comfort,compensate the Angle deviation and human-robot interaction force caused by motion,human-robot coupling binding device and joint comfort coefficient were designed.Considering the endurance and energy consumption,this paper designed the drive module and passive energy storage element.According to the structure of the robot,the D-H method was used to establish the kinematics model of the robot,and the data was obtained by OpenSim for simulation design verification.The inverse kinematics of the robot is solved by geometric solution.The dynamic simulation tool was used to verify the human walking simulation.The walking process was divided into swing phase and support phase,and the dynamic models of the two modes were established by Lagrange method,and the characteristics of the models were analyzed.A gait prediction method based on Kalman filter and modal recognition based on plantar pressure are designed.Taking sagittal exoskeleton robot as the research object,the stability of the robot is analyzed by using ZMP method.Select the motor model and set up the motor rope unit.The mathematical model and physical model of the motor were established,the magnetic field directional control was used to simulate the motor,the double closed-loop control and torque control were designed,and the open-loop disturbance observer was designed.Human-computer interaction model is established,the intelligent control method to design controller,using RBF neural network adaptive control method for external skeletal robot respectively and Multibody dynamics model to establish a physical model to control simulation,simulation results analysis,proves that the control strategy and methods for controlling the applicability and the rationality of the exoskeleton.Gait data are recorded with a biomechanical function evaluation equipment,structures,the exoskeleton robot prototype,the power experiment of exoskeleton robot dynamical effect,will be deployed to the hardware,control strategy of installation of sensors measure the exoskeleton current state,the design of feedback of driven joints for position control and torque control,the use of torque sensor to read the motor output torque,Prototype experiments were carried out to calculate the effective output power of the drive module to verify the power assist effect and reduce the muscle force output of the wearer. |
