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WALK-ASSISTING BALANCE SYSTEM OF THE Exoskeleton robot FOR DISABLED PEOPLE

Chinese Journal of Mechanical Engineering 2004年第2期17卷 263-267页

作者： Yin Yuehong Zhou Chunlin Song Jiaren Chen Shiyi Han Tianpu Zhou Chen Research Institute of robotics,Shanghai Jiaotong University,Shanghai 200030, China Research Institute of robotics Shanghai Jiaotong University 上海 200030

A novel methodology for a walk-assisting balance system of the Exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model isbuilt, and its control system based on PWM is developed. The emulations in Matlab and the results ofexperiments prove that this methodology is effective.

关键词： Balance system Ropewalker robot Exoskeleton robot

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing Exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic state.However,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance phase.Inspired by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named PALExo.Under certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human movement.With the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are obtained.Impedance control is introduced to increase the comfort of the wearer.The impedance parameters as well as the CPG parameters are tuned in real time based on feedback.The experiments were conducted with PALExo.The results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

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Frontiers of Mechanical Engineering 2022年第2期17卷 37-50页

作者： Di SHI Liduan WANG Yanqiu ZHANG Wuxiang ZHANG Hang XIAO Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Rehabilitation Medicine Weifang Medical UniversityWeifang 261053China Beijing Advanced Innovation Centre for Biomedical Engineering Beihang UniversityBeijing 100191China

As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling lower limb rehabilitation Exoskeleton robot motor assessment dynamical model perception

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