可穿戴型助力机器人技术研究
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摘要
可穿戴型步行助力机器人技术研究是近年来比较崭新的一个研究领域，属于特种机器人的范畴，其涉及机器人学、人体工程学、控制理论、传感器技术、信息处理技术等。可穿戴型步行助力机器人可帮助人们扩展其下肢部位的运动能力，可在帮助老人、残疾人提高自主生活能力，增加救灾、防暴人员运动能力等方面发挥重要作用。助力机器人包括可穿戴在人体上各部位的机械装置、动力装置和控制装置以及检测人体运动信息的多种传感器，它们组成一个可提高人体相应部位运动功能与负荷能力的辅助机器人系统以及一个类似人类神经系统的局域网，是典型的人机一体化系统。
在国家自然科学基金的资助下，本文以多关节机械操作臂为基础，结合人体运动意图判断、接触力传感器和假想柔顺控制，研究了可穿戴型步行助力机器人系统。内容包括：系统分析和计算了外骨骼装置的基本特性；成功研制出助力装置的原形样机，包括外骨骼机械装置、人-机系统运动学和动力学分析、接触力传感器；采用基于接触力多传感器信息融合理论，进行人体运动意图的判别；提出了假想柔顺控制方法，通过调节各测力点处的假想质量、假想弹性系数和假想阻尼系数来改变使用者步行时感受到的运动强度。
全文贯穿了理论分析和技术实现两个基本问题，涉及多个研究领域，主要体现在以下几个方面：
1．步行助力机器人以不妨碍人的基本行走功能为前提，结合人体工程学、人体解剖学和机械设计技术等，设计出一款单侧具有6自由度的步行助力装置，其中，髋关节拥有3个自由度，分别完成屈/伸、外展/内收和旋内/旋外的运动，实现人在步行运动过程中的直线行走、调节平衡和改变方向的功能，膝关节仅具有完成屈/伸运动的自由度，它与髋关节的屈/伸运动共同完成了人体直线行走运动功能。此外，通过对人体在行走过程中关节活动的能量消耗及机械系统设计的复杂性分析，仅髋关节的屈/伸运动及膝关节的屈/伸运动采用外部驱动模式。步行助力机器人以使用者形体为设计参考对象，如大、小腿长度、腰围和关节活动自由度等。为了避免步行助力机器人与使用者在共同行走过程中出现运动干涉等问题，步行助力机器人各连杆长度可在一定范围内进行调节，金属腰带也依据使用者腰围进行调整，它们组成了一个开放的机械结构系统。通过助力机器人系统的运动学公式及动力学方程，并结合运动仿真软件进行了设计优化，同时，也为外部驱动源的选型提供了参考。
2．提出了基于多接触力传感器的人体运动意图判别新思路。通过对获取肌电和运动图像等信息手段进行人体运动意图识别方法进行了分析和评判，结合我们现有的研究水平与实际应用环境，提出根据各测力点感受到的人体运动时的多维力导向信息来判断下肢运动模式的方法，通过在人-机间配置检测人体运动检测点，如侧面多维力传感器和脚底反力传感器等，利用现代信号处理技术、数据融合技术，综合判断人体的运动意图。这种方法将有别于现有可穿戴型助力机器人系统获取人体运动意图的方法。
3．通过理论分析和技术实现，研制出十二自由度和四电机驱动的助力机器人原型样机。通过对国外助力机器人控制方法的详细分析研究后，根据其自身结构特点情况，提出假想柔顺控制方法，它通过调节各测力点的假想质量、假想弹性系数和假想阻尼系数，减小使用者感受到的运动强度，实现对人体运动的助力支持，同时，利用假想柔顺控制方法，把具有几个自由度的机器人的控制问题等效为几个独立的控制问题。
The wearable power assist robot is a new research field in recent years, which belongs to special robot category. Power assist robot represents a high integration of robotics, ergonomics, control engineering, technology of sensor, communication, signal processing and etc. The power assist robot is designed for normal human lower limb power augmentation, and it has its potential applications for elderly people, handicapped, succor, care-worker, soldier and fireman. The power assist system includes the fundamental exoskeleton, actuator, controller and many sensors for obtaining user motion information. The all devices constitutes a robot system to improve ability of human walking and increase load to human body, and it also constitutes a local area network similar to human nervous system. It becomes a humachine system.
Supported by the National Nature Science Foundation of China and based on multi-joint mechanical operator, this thesis focuses on the research and development of a novel power assist system which is a combination of the human motion intention recognition, contact force sensor, pseudo-compliance control. The main research contents are as follows: analyze and calculation feature of body and exoskeleton; successful power assist prototype development including exoskeleton machine, human-robot kinematics and dynamics, contact force sensor; judgment of human motion intention using multi-sensor data fusion; a control method of pseudo-compliance is proposed, through which we can adjust the coefficient of mass, damp and spring to change user movement intensity during walking.
The whole thesis has a thorough knowledge of theoretical analysis and the technology realization, and it involves many research fields manifested in following several aspects:
1. The robot that we proposed is for assisting activities of daily life without affecting the user to walk normally. So, the system must have many DOFs like human, however, it is impossible to include all the DOFs of human legs in consideration of design complexities. Here, our mechanical structure consists of a 12 DOFs mechanism (6 DOFs for each leg) based on ergonomics, anatomy and mechanism design technology. The hip structure has 3 DOFs in total. They perform function of flexion/extension, abduction /adduction and internal rotation/external rotation, realizes the function of straight walking, balance adjustment, and walking direction change respectively. At the knee joint, there is 1 DOF, which perform the flexion /extension. Comparing to other joint motion, the flexion/extension of hip and knee is the most important to normal walking and its energy consumption is also most. So, only the motion of flexion/extension at hip and knee are currently powered. To avoid the motion collision between the WPAL exoskeleton and the user, the designed joint axes and human joint axes must be on an identical axis. So, the length of the designed exoskeleton links can be changed according to the real length of user thigh and lower leg, even for metal waistband. Through analyzing power assist system kinematics and dynamics, and combining simulation software, we can carry on the design optimization; simultaneously, it provides the reference for the motor selection.
2. A novel thought about the judgment of human motion intention based on multi contact force sensor is proposed. After analyzing the motion recognition method based on image resolution and surface electromyographic (sEMG), we proposed a method using multi-dimensional force guidance information. The two-dimension force sensors are equipped on thigh and lower thigh respectively for each exoskeleton leg, which detect the force caused from the motion difference between WPAL and the user. And they contact directly with normal person leg through bundles. Floor reaction force (FRF) sensors are developed to measure FRF which are generated in front and rear parts of footboard. Using modern technology of signal processing and data fusion, we can finish the judgment of user motion intention. This method is different from existing method used in foreign power assist system.
3. Through the theoretical analysis and the technical realization, we developed a prototype having 12 DOFs and four motor-driven. After study on the control method of foreign power assist device, we proposed a novel method named pseudo-compliance according to its own unique feature and our research level. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. And, we changed the multi-DOF robot control to equivalent several independent control way.
在国家自然科学基金的资助下，本文以多关节机械操作臂为基础，结合人体运动意图判断、接触力传感器和假想柔顺控制，研究了可穿戴型步行助力机器人系统。内容包括：系统分析和计算了外骨骼装置的基本特性；成功研制出助力装置的原形样机，包括外骨骼机械装置、人-机系统运动学和动力学分析、接触力传感器；采用基于接触力多传感器信息融合理论，进行人体运动意图的判别；提出了假想柔顺控制方法，通过调节各测力点处的假想质量、假想弹性系数和假想阻尼系数来改变使用者步行时感受到的运动强度。
全文贯穿了理论分析和技术实现两个基本问题，涉及多个研究领域，主要体现在以下几个方面：
1．步行助力机器人以不妨碍人的基本行走功能为前提，结合人体工程学、人体解剖学和机械设计技术等，设计出一款单侧具有6自由度的步行助力装置，其中，髋关节拥有3个自由度，分别完成屈/伸、外展/内收和旋内/旋外的运动，实现人在步行运动过程中的直线行走、调节平衡和改变方向的功能，膝关节仅具有完成屈/伸运动的自由度，它与髋关节的屈/伸运动共同完成了人体直线行走运动功能。此外，通过对人体在行走过程中关节活动的能量消耗及机械系统设计的复杂性分析，仅髋关节的屈/伸运动及膝关节的屈/伸运动采用外部驱动模式。步行助力机器人以使用者形体为设计参考对象，如大、小腿长度、腰围和关节活动自由度等。为了避免步行助力机器人与使用者在共同行走过程中出现运动干涉等问题，步行助力机器人各连杆长度可在一定范围内进行调节，金属腰带也依据使用者腰围进行调整，它们组成了一个开放的机械结构系统。通过助力机器人系统的运动学公式及动力学方程，并结合运动仿真软件进行了设计优化，同时，也为外部驱动源的选型提供了参考。
2．提出了基于多接触力传感器的人体运动意图判别新思路。通过对获取肌电和运动图像等信息手段进行人体运动意图识别方法进行了分析和评判，结合我们现有的研究水平与实际应用环境，提出根据各测力点感受到的人体运动时的多维力导向信息来判断下肢运动模式的方法，通过在人-机间配置检测人体运动检测点，如侧面多维力传感器和脚底反力传感器等，利用现代信号处理技术、数据融合技术，综合判断人体的运动意图。这种方法将有别于现有可穿戴型助力机器人系统获取人体运动意图的方法。
3．通过理论分析和技术实现，研制出十二自由度和四电机驱动的助力机器人原型样机。通过对国外助力机器人控制方法的详细分析研究后，根据其自身结构特点情况，提出假想柔顺控制方法，它通过调节各测力点的假想质量、假想弹性系数和假想阻尼系数，减小使用者感受到的运动强度，实现对人体运动的助力支持，同时，利用假想柔顺控制方法，把具有几个自由度的机器人的控制问题等效为几个独立的控制问题。
The wearable power assist robot is a new research field in recent years, which belongs to special robot category. Power assist robot represents a high integration of robotics, ergonomics, control engineering, technology of sensor, communication, signal processing and etc. The power assist robot is designed for normal human lower limb power augmentation, and it has its potential applications for elderly people, handicapped, succor, care-worker, soldier and fireman. The power assist system includes the fundamental exoskeleton, actuator, controller and many sensors for obtaining user motion information. The all devices constitutes a robot system to improve ability of human walking and increase load to human body, and it also constitutes a local area network similar to human nervous system. It becomes a humachine system.
Supported by the National Nature Science Foundation of China and based on multi-joint mechanical operator, this thesis focuses on the research and development of a novel power assist system which is a combination of the human motion intention recognition, contact force sensor, pseudo-compliance control. The main research contents are as follows: analyze and calculation feature of body and exoskeleton; successful power assist prototype development including exoskeleton machine, human-robot kinematics and dynamics, contact force sensor; judgment of human motion intention using multi-sensor data fusion; a control method of pseudo-compliance is proposed, through which we can adjust the coefficient of mass, damp and spring to change user movement intensity during walking.
The whole thesis has a thorough knowledge of theoretical analysis and the technology realization, and it involves many research fields manifested in following several aspects:
1. The robot that we proposed is for assisting activities of daily life without affecting the user to walk normally. So, the system must have many DOFs like human, however, it is impossible to include all the DOFs of human legs in consideration of design complexities. Here, our mechanical structure consists of a 12 DOFs mechanism (6 DOFs for each leg) based on ergonomics, anatomy and mechanism design technology. The hip structure has 3 DOFs in total. They perform function of flexion/extension, abduction /adduction and internal rotation/external rotation, realizes the function of straight walking, balance adjustment, and walking direction change respectively. At the knee joint, there is 1 DOF, which perform the flexion /extension. Comparing to other joint motion, the flexion/extension of hip and knee is the most important to normal walking and its energy consumption is also most. So, only the motion of flexion/extension at hip and knee are currently powered. To avoid the motion collision between the WPAL exoskeleton and the user, the designed joint axes and human joint axes must be on an identical axis. So, the length of the designed exoskeleton links can be changed according to the real length of user thigh and lower leg, even for metal waistband. Through analyzing power assist system kinematics and dynamics, and combining simulation software, we can carry on the design optimization; simultaneously, it provides the reference for the motor selection.
2. A novel thought about the judgment of human motion intention based on multi contact force sensor is proposed. After analyzing the motion recognition method based on image resolution and surface electromyographic (sEMG), we proposed a method using multi-dimensional force guidance information. The two-dimension force sensors are equipped on thigh and lower thigh respectively for each exoskeleton leg, which detect the force caused from the motion difference between WPAL and the user. And they contact directly with normal person leg through bundles. Floor reaction force (FRF) sensors are developed to measure FRF which are generated in front and rear parts of footboard. Using modern technology of signal processing and data fusion, we can finish the judgment of user motion intention. This method is different from existing method used in foreign power assist system.
3. Through the theoretical analysis and the technical realization, we developed a prototype having 12 DOFs and four motor-driven. After study on the control method of foreign power assist device, we proposed a novel method named pseudo-compliance according to its own unique feature and our research level. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. And, we changed the multi-DOF robot control to equivalent several independent control way.
引文
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[19] Yamamoto, Keijiro; Hyodo, Kazuhito; Ishi, Mineo; Matsuo Takashi, T. "Development of power assisting suit for assisting nurse labor", JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, v 45, n 3, September, 2002, Page(s): 703-711.
[20] Keijiro Yamamoto, Mineo Ishi, Hirokazu Noborisaka, Kazuhito Hyodo, "Stand Alone Wearable Power Assisting Suit-Sensing and Control Systems-", Proceeding of the 2004 IEEE International Workshop on Robot and Human Interactive Communication, Kurashiki, Okayama Japan Setptember 20-22, 2004, Page(s). 661-666.
[21] Jerry E.Pratt, Benjamin T.Krupp, Christopher J.Morse, The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking, Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004, Page(s): 2430-2435.
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