动力外骨骼的串联弹性驱动器控制
Series elastic actuator control of a powered exoskeleton.
作者信息
Ragonesi Daniel, Agrawal Sunil, Sample Whitney, Rahman Tariq
机构信息
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:3515-8. doi: 10.1109/IEMBS.2011.6090583.
A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy. Previous work determined that actuation in parallel with gravity balancing springs required less torque than actuation in series. Compliance is achieved by using a series elastic actuator (SEA) by placing torsional springs between the motors and the WREX. A torque control was implemented on the SEA at the joint level. The response of the control law was characterized without disturbances. The SEAs were then attached to the orthosis to test the response with disturbances, and the control provided accurate joint torques.
一种基于被动式腕部伸展和屈肌矫形器（WREX）系统的电动上肢矫形器正在研发中。该矫形器是一个由用户残余力输入控制的四自由度手臂。该手臂适用于患有肌肉萎缩症或脊髓性肌萎缩症导致神经肌肉无力的人群。先前的研究表明，与重力平衡弹簧并联驱动所需的扭矩比串联驱动要小。通过在电机和WREX之间放置扭转弹簧，使用串联弹性驱动器（SEA）来实现柔顺性。在关节层面上对SEA实施了扭矩控制。在无干扰的情况下对控制律的响应进行了表征。然后将SEA连接到矫形器上，以测试在有干扰情况下的响应，并且该控制提供了精确的关节扭矩。
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