State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel). 2022 Jan 29;22(3):1055. doi: 10.3390/s22031055.
Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series-parallel elastic actuator (SPEA) is designed, in this work, to meet the demanding requirements of an exoskeleton robot called PALExo. A gas spring is installed in parallel with an electric cylinder to adjust the force output range of the actuator according to the needs of the exoskeleton. A series elastic module (SEM) is installed in series with the electric cylinder and gas spring to improve the compliance of the actuator, the stiffness of which is variable to adapt to the different stiffness requirements of the exoskeleton's legs in the standing phase and swinging phase. A force controller combining dynamic compensation and a cascade control with an inner velocity loop and a disturbance observer is designed for the SPEA. The performance of the force controller is verified by experiments and the results demonstrate that the controller has good adaptability to the stiffness of the SEM.
承重式外骨骼机器人需要承载负荷并经常与人交互。因此，这些外骨骼机器人的执行器应该能够以高顺应性和小重量输出足够的力。本工作设计了一种串-并弹性执行器（SPEA），以满足名为 PALExo 的外骨骼机器人的苛刻要求。在执行器中并联安装了一个气弹簧，根据外骨骼的需求来调整执行器的力输出范围。在电动缸和气压缸之间串联安装了一个串联弹性模块（SEM），以提高执行器的顺应性，其刚度是可变的，以适应外骨骼在站立阶段和摆动阶段的不同腿部刚度要求。针对 SPEA 设计了一种结合动态补偿和串级控制的力控制器，其中包含一个内速度环和一个干扰观测器。通过实验验证了力控制器的性能，结果表明该控制器对 SEM 的刚度具有良好的适应性。
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