具有人机柔顺协同性的绳驱动上肢外骨骼康复机器人研究

Concentrating on the bionic mechanism design and human-machine integrated control of upper-limb rehabilitation robots, this application will do researches on adjustable wearable physical interface, bionic elbow joint design, physiology-based human-machine integrated control and augmented reality interactive platform and the key scientific issues will be condensed and deeply explored in order to improve the rehabilitation efficacy and safety. For the mechanical design, a two-layer wearable physical interface with soft inner and rigid outer is proposed to improve the alignment accuracy of human arm and the exoskeleton. Besides, a modular multistage serial flexure-based mechanisim is designed to compensate joint axis deviation passively. For the control, a dynamic model-based control strategy, the wrench-field controller, is proposed to make the 6-DOF motion of exoskeleton more compliant and smooth and the variable-stiffness control of the cable-driven exoskeleton is achieved using its force control redundancy, and then sEMG-based muscle strength detection is applied as the closed-loop feedback of variable-stiffness control. Therefore, this application can bring about human-machine integrated compliance and synergy control. The goal of the project is to make innovation attempt on the bionic mechanism design and the human-machine synergy control strategy based on the internal relations between the rehabilitation robotics and rehabilitation engineering. It is also expected to contribute to improving the clinical performance of upper-limb rehabilitation robots as well as promoting the research and development of robotics and rehabilitation engineering.

本申请针对上肢外骨骼的仿生学机构设计和人机一体化控制问题，围绕提高系统的康复效果与安全性，从穿戴物理接口、仿生肘关节设计、融合生物学信息的人机一体化控制、增强现实交互平台等方面入手，凝练关键科学问题进行深层次的探索。在机构上，采用内柔外刚双层结构设计物理接口提高人机模型的对准精度，通过组合式多级串联柔性机构被动补偿人机关节的轴线偏离；在控制上，提出基于六维力旋量场的动态模型控制策略提高外骨骼六自由度运动控制的柔顺平滑性，利用并联绳驱动外骨骼的力冗余特性实现变刚度控制，并基于sEMG反馈的上肢肌力状态实现变刚度闭环反馈控制，最终实现切合患者生理需求的人机一体化外骨骼柔顺协同控制。项目的主要意义是依据康复机器人技术与康复医学的内在联系，在机构设计的仿生学机理和控制策略的人机协同理念上进行创新性研究，为提高上肢康复机器人的临床应用效果做出贡献，同时推动相关机器人学和康复工程学的研究和发展。

随着中国老龄化进程的加深，由脑卒中等神经性疾病导致的肢体运动功能障碍患者越来越多，传统的以康复医师为主导的康复训练有成本高，康复医师人力紧缺等缺点，因此康复机器人作为一种替代方案得到了越来越多的关注。绳驱动技术具有负载低、柔顺度高及安全性好等优点，可与上肢康复机器人相结合。本课题针对上肢外骨骼的仿生学机构设计和人机一体化控制问题，围绕提高系统的康复效果与安全性，从穿戴物理接口、仿生肘关节设计、融合生物学信息的人机一体化控制、增强现实交互平台等方面入手，凝练关键科学问题进行深层次的探索。在机构上，采用内柔外刚双层结构设计物理接口提高人机模型的对准精度，通过组合式多级串联柔性机构被动补偿人机关节的轴线偏离；在控制上，提出基于六维力旋量场的动态模型控制策略提高外骨骼七自由度运动控制的柔顺平滑性，利用并联绳驱动外骨骼的力冗余特性实现变刚度控制，并基于sEMG反馈的上肢肌力状态实现变刚度闭环反馈控制，最终实现切合患者生理需求的人机一体化外骨骼柔顺协同控制。本课题研制的外骨骼样机与配套系统已经具备了极高的完成度，康复训练种类多样化，外骨骼运动流畅且稳定，安全保障机制可靠，受试者的学习成本几乎为零，穿戴和训练体验良好。从患者的角度出发，设计了多种针对不同需求的康复训练模式，并解决了康复外骨骼实际使用过程中的若干难点，为后续的上肢康复外骨骼产业化和相关理论研究奠定了坚实的基础。