可穿戴型并联式髋关节助力机器人研究
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摘要
助力机器人是目前机器人领域研究和发展的一个重要课题,而可穿戴型助力机器人又是使助力机器人走向室外更广阔空间的必要手段之一。可穿戴型助力机器人通过把助力机构穿戴在使用者身上,进而可以辅助使用者,如具有行动困难的老年人或残障人士,可以帮助他们克服困难,实现正常人的日常行动。因此,可穿戴型助力机器人受到领域专家学者的重视。随着现代机器人技术的发展,可穿戴型助力机器人面临巨大的发展挑战与机遇。可穿戴助力机器人的研究囊括了从膝关节助力、髋关节助力,到人体下肢助力、上肢助力,从特定动作如上下楼梯、行走到广泛动作的助力。
本论文面向人体髋关节助力,从各个方面讨论了髋关节助力机器人的研究现状和应用需求。以国家“十一五”863服务机器人重点项目“可穿戴型助残助老智能机器人示范平台”为基础,旨在进一步深入研究认识、理解人体助力的基础上,设计和研制出针对人体特定部位髋关节的助力机器人,达到人体髋关节3自由度助力和减轻髋关节负担的目的。本论文的主要研究工作概括如下：
基于人体髋关节的解剖结构特征,从机器人学、人体工程学、仿生学的角度,设计和研制了一套新型的髋关节3自由度助力机构。该机构不同于其他髋关节助力机构,它是一个6自由度3UPS并联机构,能够和人体大腿共同完成3自由度的运动。另外为了满足建立人体大腿和助力机构的运动学模型的要求,采用了计算机视觉技术来检测人体髋关节的位置信息；
结合串联机构学,构建了人体大腿和UPS支链的运动学模型,并且构建了助力机构的逆运动学雅克比。针对并联机构比较难建立正雅克比的问题,我们从并联机构的几何约束方程出发,通过微分法得到了被动关节和主动关节之间的速度关系,在此基础上提出了新的并联机构正运动学雅克比构建方法；
在机构特性方面,无论是串联机构,还是并联机构,都存在机构奇异的问题。目前的机构奇异空间求解往往是通过扫描的方法实现的,求解效率比较低。本文结合随机逼近的思想,利用机构雅克比本身具有的特性,提出了一种新的机构奇异值快速查找算法；
助力机构的设计优劣直接影响到助力机构的最终助力结果,但是目前仍然没有有效的方法可以在助力机构的设计优化阶段评价其助力性能。针对该问题,我们从助力机构的本质物理意义出发,从运动学的角度,通过比较人体模型的可操作性椭球和从动助力机构的可操作性椭球,可以评价助力机构的助力可行性和助力效果。该方法有助于提高可穿戴型助力机器人的设计效率,加强其助力性能；
助力机构的控制直接影响到助力机构的助力性能。结合助力机构与人体之间的力传感器提供的人机交互信息,我们采用了基于假想柔顺的控制策略。通过仿真实验、基于假肢的实验以及实际人腿实验,验证了该控制策略的可行性。同时也验证了本文提出的并联机构正运动学雅克比建立方法的正确性。
Among the assistive robots, with supplementingthe function of human limb or replacing it completely, wearable assistive robot has become an attractive method of power assisting, since it can be used for a wide range of application. Wearable assistive robot, which is person-oriented robots, can be worn by human operator through operating alongside human limbs.With the assistance provided by the wearable assistive robot, the operator feels scaled-down loads as part of the load is being assisted by the wearable assistive robot.
In our research, we focused on human hip joint power assist, which is also part of the work of the Research of Intelligent Robot for the Old and Disabled Power Assist (supported by the National High Technology Research and Development Program863). The aim is to design and manufacture a human hip joint3-DOF power assist robot.
Based on the analytical architecture of hip joint and combined with robotics, bionics and human engineering, we have designed a robot for human hip joint3-DOF power assist. Different than other hip joint assistive robots, the proposed robot is a3UPS parallel mechanism. This robot can keep hip joint's own3-DOF, and then move with human thigh avoiding interference. In order to obtain the parameters of hip joint, we have designed a stereophotogrammetry localization system. This system can measure the position of hip joint center. Then we can build the kinematical model for human thigh and assistive mechanism.
For the human limb and assistive robot, we consider them as a whole parallel mechanism. Through the serial robotics, we build the kinematics model for human thigh and UPS chain, and then we build the inverse Jacobian for the parallel mechanism. In order to build the direct Jacobian for parallel mechanism, we proposed a method based on differing the geometry constraint equations. After differentiation, we can obtain the velocity relation between the passive joints and active joints, and then we can use this relation to build the direct Jacobian for parallel mechanism.
For the mechanical singularity, we proposed a quick algorithm based on stochastic approximation (SA) which is used to seek mechanical singularity. Different from conventional methods, the proposed SA algorithm is quicker and much more effective. Integrated with mechanical kinematic Jacobian matrix, the SA algorithm is based on the strict and integrated illation process. During the illation process, the restrictive qualifications for this algorithm are also outlined. Through the applications on several mechanisms, it is found that the algorithm can be used for those mechanisms which satisfy the restrictive qualifications to seek out singular points near the initial working points in workspace quickly and effectively.
The purpose of the design optimization for assistive mechanism is ensuring that assistive mechanism is able to satisfy assistive feasibility and realizes better assistive effect in the whole expected workspace. For this purpose, based on manipulability comparison between assisted limb and slave-active-assistive mechanism, Manipulability Inclusive Principle (MIP) is proposed as an effective and simple method to consider assistive feasibility and assistive effect in terms of kinematics. Then MIP evaluation criterions are proposed to evaluate assistive feasibility and assistive effect in mathematical ways. Concretely, weak inclusive judgment algorithm and strong inclusive judgment algorithm are proposed for judging inclusive cases to evaluate assistive feasibility, and evaluation criterion proposed for evaluating assistive effect considers in terms of assistive efficiency, assistive ability and assistive isotropy. The applications show design optimization based on MIP can effectively optimize the parallel assistive mechanism to realize better assistance.
The control stratgy also has influence on assistive result. The basic principle for the control of assist robot rests on the notion that the assistive robot needs to shadow the wearer's movements quickly, and without delay. This requires an effective control to minimal the response between human and the exoskeleton quickly, where in our research pseudo-compliance control is adopted. Through the simulation, experiment on artificial limb and experiment on human limb, we have proved that the control stragety is available for hip joint assistive robot. Additionally, the results also show that the prposed method for building direct parallel Jacobian is available.
本论文面向人体髋关节助力,从各个方面讨论了髋关节助力机器人的研究现状和应用需求。以国家“十一五”863服务机器人重点项目“可穿戴型助残助老智能机器人示范平台”为基础,旨在进一步深入研究认识、理解人体助力的基础上,设计和研制出针对人体特定部位髋关节的助力机器人,达到人体髋关节3自由度助力和减轻髋关节负担的目的。本论文的主要研究工作概括如下：
基于人体髋关节的解剖结构特征,从机器人学、人体工程学、仿生学的角度,设计和研制了一套新型的髋关节3自由度助力机构。该机构不同于其他髋关节助力机构,它是一个6自由度3UPS并联机构,能够和人体大腿共同完成3自由度的运动。另外为了满足建立人体大腿和助力机构的运动学模型的要求,采用了计算机视觉技术来检测人体髋关节的位置信息；
结合串联机构学,构建了人体大腿和UPS支链的运动学模型,并且构建了助力机构的逆运动学雅克比。针对并联机构比较难建立正雅克比的问题,我们从并联机构的几何约束方程出发,通过微分法得到了被动关节和主动关节之间的速度关系,在此基础上提出了新的并联机构正运动学雅克比构建方法；
在机构特性方面,无论是串联机构,还是并联机构,都存在机构奇异的问题。目前的机构奇异空间求解往往是通过扫描的方法实现的,求解效率比较低。本文结合随机逼近的思想,利用机构雅克比本身具有的特性,提出了一种新的机构奇异值快速查找算法；
助力机构的设计优劣直接影响到助力机构的最终助力结果,但是目前仍然没有有效的方法可以在助力机构的设计优化阶段评价其助力性能。针对该问题,我们从助力机构的本质物理意义出发,从运动学的角度,通过比较人体模型的可操作性椭球和从动助力机构的可操作性椭球,可以评价助力机构的助力可行性和助力效果。该方法有助于提高可穿戴型助力机器人的设计效率,加强其助力性能；
助力机构的控制直接影响到助力机构的助力性能。结合助力机构与人体之间的力传感器提供的人机交互信息,我们采用了基于假想柔顺的控制策略。通过仿真实验、基于假肢的实验以及实际人腿实验,验证了该控制策略的可行性。同时也验证了本文提出的并联机构正运动学雅克比建立方法的正确性。
Among the assistive robots, with supplementingthe function of human limb or replacing it completely, wearable assistive robot has become an attractive method of power assisting, since it can be used for a wide range of application. Wearable assistive robot, which is person-oriented robots, can be worn by human operator through operating alongside human limbs.With the assistance provided by the wearable assistive robot, the operator feels scaled-down loads as part of the load is being assisted by the wearable assistive robot.
In our research, we focused on human hip joint power assist, which is also part of the work of the Research of Intelligent Robot for the Old and Disabled Power Assist (supported by the National High Technology Research and Development Program863). The aim is to design and manufacture a human hip joint3-DOF power assist robot.
Based on the analytical architecture of hip joint and combined with robotics, bionics and human engineering, we have designed a robot for human hip joint3-DOF power assist. Different than other hip joint assistive robots, the proposed robot is a3UPS parallel mechanism. This robot can keep hip joint's own3-DOF, and then move with human thigh avoiding interference. In order to obtain the parameters of hip joint, we have designed a stereophotogrammetry localization system. This system can measure the position of hip joint center. Then we can build the kinematical model for human thigh and assistive mechanism.
For the human limb and assistive robot, we consider them as a whole parallel mechanism. Through the serial robotics, we build the kinematics model for human thigh and UPS chain, and then we build the inverse Jacobian for the parallel mechanism. In order to build the direct Jacobian for parallel mechanism, we proposed a method based on differing the geometry constraint equations. After differentiation, we can obtain the velocity relation between the passive joints and active joints, and then we can use this relation to build the direct Jacobian for parallel mechanism.
For the mechanical singularity, we proposed a quick algorithm based on stochastic approximation (SA) which is used to seek mechanical singularity. Different from conventional methods, the proposed SA algorithm is quicker and much more effective. Integrated with mechanical kinematic Jacobian matrix, the SA algorithm is based on the strict and integrated illation process. During the illation process, the restrictive qualifications for this algorithm are also outlined. Through the applications on several mechanisms, it is found that the algorithm can be used for those mechanisms which satisfy the restrictive qualifications to seek out singular points near the initial working points in workspace quickly and effectively.
The purpose of the design optimization for assistive mechanism is ensuring that assistive mechanism is able to satisfy assistive feasibility and realizes better assistive effect in the whole expected workspace. For this purpose, based on manipulability comparison between assisted limb and slave-active-assistive mechanism, Manipulability Inclusive Principle (MIP) is proposed as an effective and simple method to consider assistive feasibility and assistive effect in terms of kinematics. Then MIP evaluation criterions are proposed to evaluate assistive feasibility and assistive effect in mathematical ways. Concretely, weak inclusive judgment algorithm and strong inclusive judgment algorithm are proposed for judging inclusive cases to evaluate assistive feasibility, and evaluation criterion proposed for evaluating assistive effect considers in terms of assistive efficiency, assistive ability and assistive isotropy. The applications show design optimization based on MIP can effectively optimize the parallel assistive mechanism to realize better assistance.
The control stratgy also has influence on assistive result. The basic principle for the control of assist robot rests on the notion that the assistive robot needs to shadow the wearer's movements quickly, and without delay. This requires an effective control to minimal the response between human and the exoskeleton quickly, where in our research pseudo-compliance control is adopted. Through the simulation, experiment on artificial limb and experiment on human limb, we have proved that the control stragety is available for hip joint assistive robot. Additionally, the results also show that the prposed method for building direct parallel Jacobian is available.
引文
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