Design Of Bionic Mechanics And Study Of Human-Robot Interaction Control Strategy For Lower Limb Exoskeleton

With the continuous improvement of the level of science and technology,the realization of military operations targets are facing more and more challenges.Therefore,many countries pay more attention to the research and development of exoskeletons.At the same time,in the medical and industrial fields,the rehabilitation and assisting effects of the exoskeleton mechanism also make the exoskeleton play an important role.The main technical feature of the exoskeleton is that it is a robotic system which is directly worn by the user.Therefore,when designing the corresponding exoskeleton mechanism,it is necessary to consider the interaction between the human body and the exoskeleton.This kind of interactivity is reflected in the interactivity of the physical structure and the interactivity of the sensoring control system.The interaction of the physical structure is reflected in the design of the exoskeleton.It is necessary to consider the using of human limb.Therefore,it is necessary to carry out the corresponding human bionics analysis to obtain a more reasonable structural.The interactivity of perceptual control is a very important link in the human body as an exoskeleton control loop.It is necessary to analyze the motion information generated by the human body and design the corresponding motion information.At the same time,the nonlinear characteristics of human body is necessary.Therefore,in the consideration of perceptual control designing,the exoskeleton sensing system needs to be reasonably designed to meet the response and stability of the control system.When designing an exoskeleton robot,many practical problems are also need to be considered.After setting up the corresponding experiment and designing which were made in the corresponding verification platform,the improved exoskeleton were designed according to the occurrence of exudation of exoskeleton and the sudden change of the motor force.Aiming at the problem of motor torque optimization,a specific leg shank structure and a fuzzy controlbased method are adopted to solve the problem,which improves the versatility and stability of the exoskeleton system as well as the security considerations.This thesis begins with analyzation of the human physiology structure and kinematics information,and the exoskeleton designing needs the important reference for human body information.First,the anatomical concept is used to describe the human limb structure so as to systematically refer to the human movement.The Vicon motion capture system is used to collect and reproduce the kinematics information of the human body,directly reflect and analyze the corresponding actions,and provide reference for the establishment of the limb model.Based on the previous analysis,the Lagrange equation method is used to build the exoskeleton model of the human body.Combined with the captured motion information,the viewpoint indicates that the lower extremity exoskeleton can be approximated as a two-link model when walking is given,and the mathematical derivation is given as followed.Then,the phase gait is divided into the acquired kinematics information,and a perception system is proposed,which based on the information of plantar pressure and joint angle.After the perception system is proposed,the corresponding design for the overall structure and control strategy of the human extracorporeal bone are proposed continuously.In the combination of design ideas and the specific structural arrangements of the exoskeleton,such as degrees of freedom,driving methods,etc,a spring-damped series connection is proposed combining with the effects of sudden changes in the external moments of the driving joints appearing in other experimental prototypes.Combined with this structure,a designing of the leg squat of the double damper unit is proposed with a human-computer interaction control strategy based on the previous sensing system.After qualitatively analyzing the design idea of the structure,the experiment was verified by Simulink on the simulation platform.By introducing the motion information into the dynamic model and matching control loop,the effective control of the designed control strategy for the external abrupt torque was realized.The correctness of the model is verified by the actual data measured by the motor.