一种具有变刚度的缆驱动上肢康复外骨骼的机电一体化设计与测试。
Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness.
机构信息
School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China.
College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China.
出版信息
Rev Sci Instrum. 2021 Feb 1;92(2):024101. doi: 10.1063/5.0037317.
In this paper, we present a cable-driven exoskeleton with variable stiffness for upper limb rehabilitation. Adjustable stiffness of the cable-driven exoskeleton is achieved by attaching a novel variable stiffness module (VSM) to each driving cable. The module is able to vary stiffness in a large range through changing cable tension. In this paper, a stiffness model is developed for a cable-driven exoskeleton to reveal the stiffness performance of the exoskeleton with the influence of VSMs. Based on the stiffness model, a controller with stiffness-oriented strategy is proposed to vary the stiffness of the exoskeleton. Experiments on a prototype of a cable-driven exoskeleton are conducted to validate the controller.
本文提出了一种用于上肢康复的缆索驱动变刚度外骨骼。通过在每个驱动缆索上附加一个新颖的可变刚度模块 (VSM)，缆索驱动外骨骼的可调刚度得以实现。该模块通过改变缆索张力能够在很大范围内改变刚度。本文为缆索驱动外骨骼开发了一个刚度模型，以揭示 VSM 对该外骨骼刚度性能的影响。基于该刚度模型，提出了一种基于刚度导向策略的控制器，以改变外骨骼的刚度。通过对缆索驱动外骨骼的原型进行实验，验证了该控制器的有效性。
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