基于力位混合控制的踝关节外骨骼机器人四段式助力技术

The assistant strategy for lower extremity joints is a key factor influencing the assistant efficiency of exoskeleton robots. The exoskeleton robots during walking on level ground have been widely explored and proved to be effective. However, the performance of exoskeleton robots during walking on a slope has not been widely analyzed, and even the assistant characteristics of exoskeleton robots during walking on a slope has not been explored. An exoskeleton robot was developed to study the physiological characteristics and joint power characteristics of human during walking on a slope. A four-stage force-position hybrid control method for ankle assisted exoskeleton robot was proposed based on the rationale of human movement. A flexible ankle exoskeleton was developed based on the analysis, and the assisting efficiency testing experiment of the assistance torque and energy consumption was made. The results demonstrate that the exoskeleton robot can provide the assisted ankle joint torque of 7% and decrease the oxygen uptake by 3.5% during walking on a slope.