摘要
外骨骼通过关节驱动器输出提供驱动力矩,分担人腿肌肉负荷。针对目前外骨骼的关节驱动方式,讨论了几种主要驱动技术的基本原理、实现方式和结构特点,分析了关节驱动的优化改进方法。首先,液压驱动可以优化驱动力矩为目标,设计储能机构,减少驱动功率,其次,针对电机驱动,优化中间传递机构,减少了关节重量和传递非线性,然后,对气动驱动特别是气动肌肉构型优化和骨骼服气动方式进行了综述,最后,指出无动力驱动是一种绿色驱动方式,也是未来的发展方向之一。总之,该文针对关节驱动及优化技术进行了分析综述,为外骨骼驱动系统设计提供了建议。
The low extremity robotic exoskeleton is a human-machine coupling system worn outside of human body, which can enhance individual soldier＇s combatant ability or help for rehabilitation of stroke and cord injured patients. The driving system plays a core role in achieving an ideal coupling performance of human and exaskeleton. The article attempts to summary the recent exoskeleton＇s research progress. It is discussed that the basic theory, implementation models and structure properties of the four driving technologies, namely hydraulic drive, motor drive and pneumatic drive. Then introduction and comparison of respective advantages and disadvantages are put forward, based on which the optimization and modification is analyzed to improve the performmance of driving joint, providing some new thoughts about design skills of driving system in exaskeleton.
作者
穆希辉
陈建华
杜峰坡
赵晓东
MU Xi-hui CHEN Jian-hua DU Feng-po ZHAO Xiao-dong(Ordnance Technology Research Institute, Hebei Shijiazhuang 050000, China Ordnance Engineering College, Hebei Shijiazhuang 050000, China)
出处
《机械设计与制造》
北大核心
2017年第7期263-265,共3页
Machinery Design & Manufacture
基金
军队重点科研项目(01060603)
关键词
下肢外骨骼
驱动技术
优化
综述
Lower Limb Exoskeleton
Driving Technology
Optimization
Review
