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[1]时 煜,王志亮,许有雄,等.膝关节助力机械腿跟随运动控制研究[J].南京工程学院学报(自科版),2016,14(03):7-11.[doi:10.13960/j.issn.1672-2558.2016.03.002]
 SHI Yu,WANG Zhi-liang,XU You-xiong,et al.A Study on Control of Power-Assisted Knee Exoskeleton Legs[J].Journal of Nanjing Institute of Technology(Natural Science Edition),2016,14(03):7-11.[doi:10.13960/j.issn.1672-2558.2016.03.002]
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《南京工程学院学报(自科版)》[ISSN:1672-2558/CN:SN32-1671/N]

卷:
第14卷
期数:
2016年03期
页码:
7-11
栏目:
出版日期:
2016-03-04

文章信息/Info

Title:
A Study on Control of Power-Assisted Knee Exoskeleton Legs
作者:
时 煜王志亮许有雄韩亚丽周 洲郝大彬朱松青
南京工程学院机械工程学院, 江苏 南京 211167
Author(s):
SHI Yu WANG Zhi-liang XU You-xiong HAN Ya-li ZHOU Zhou HAO Da-bin ZHU Song-qing
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167,China
关键词:
机器人 助力机械腿 肌电信号 PID控制 运动跟随
Keywords:
robot power-assisted knee exoskeleton leg electromyographic signal PID control following motion
分类号:
TP242; TH164
DOI:
10.13960/j.issn.1672-2558.2016.03.002
文献标志码:
A
摘要:
膝关节助力机械腿是一种穿戴在下肢外部、对穿戴者膝关节进行助力的外骨骼机器人.为了实现膝关节助力机械腿对穿戴者的快速跟随,设计制作肌电信号检测电路,通过检测穿戴者的腿部肌电信号来对其运动意图进行判别,组合扭矩传感器输出结果对机械腿进行PID控制,并对机械腿的运行状况进行监测与运动输出.试验结果表明,机械腿能实现对穿戴者摆腿运动的快速跟随.
Abstract:
Power-assisted knee exoskeleton legs are a kind of exoskeleton worn outside lower limbs and can assist power of wearers' knees. In order to help achieve quick follow of wearers, EMG detection circuit is designed to distinguish its motion intentions by detecting wearers' leg EMG signals, torque sensor output is combined to perform PID control, and the exoskeleton leg's move status is monitored for the control of motion output. The experimental results indicate that exoskeleton legs enable quick follow of wearers' swing leg movement.

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备注/Memo

备注/Memo:
收稿日期: 2016-01-13; 修回日期: 2016-02-25 基金项目: 国家自然科学基金项目(51205182); 江苏省自然科学基金项目(BK2013074); 江苏省级重点建设学科开放课题项目(JXKJ201510); 南京工程学院大学生科技创新基金2016年挑战杯支撑项目(TZ201617002) 作者简介: 时煜,硕士研究生,研究方向为助力外骨骼机器人. E-mail: 13512518837@163.com
更新日期/Last Update: 2016-08-20