一种新型自主下肢外骨骼助行机器人的研制

何勇; 李南; 王超; 夏林清; 雍旭; 吴新宇

doi:10.1631/FITEE.1800561

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一种新型自主下肢外骨骼助行机器人的研制

智能机器人专题 | Updated：2022-05-19

- 一种新型自主下肢外骨骼助行机器人的研制
- Development of a novel autonomous lower extremity exoskeleton robot for walking assistance
- 信息与电子工程前沿（英文） 2019年20卷第3期页码：318-329
- Affiliations：
  
  Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
  CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
  Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, China
  Department of Mechanical Engineering and Intelligent Systems, the University of Electro-Communications, Tokyo 182-8585, Japan
- Author bio：
  
  Xin-yu WU, E-mail: xy.wu@siat.ac.cn
- Funds：
  
  Project supported by the Shenzhen Robotics Research Center Project, the National Natural Science Foundation of China (No.U1613219), the Shenzhen Technology Project, China (No.JSGG20160301160759264), and the Shenzhen Overseas Innovation and Entrepreneurship Research Program, China (No.KQJSCX20170731164301774)
- DOI：10.1631/FITEE.1800561
  中图分类号： TP23
- 收稿：2018-09-14，
  
  修回：2019-;3-14，
  
  纸质出版：2019-03
- Accepted：
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何勇, 李南, 王超, 等. 一种新型自主下肢外骨骼助行机器人的研制[J]. 信息与电子工程前沿（英文）, 2019,20(3):318-329.

Yong HE, Nan LI, Chao WANG, et al. Development of a novel autonomous lower extremity exoskeleton robot for walking assistance[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 318-329.
何勇, 李南, 王超, 等. 一种新型自主下肢外骨骼助行机器人的研制[J]. 信息与电子工程前沿（英文）, 2019,20(3):318-329. DOI： 10.1631/FITEE.1800561.

Yong HE, Nan LI, Chao WANG, et al. Development of a novel autonomous lower extremity exoskeleton robot for walking assistance[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 318-329. DOI： 10.1631/FITEE.1800561.

摘要

目前，外骨骼被广泛应用于下肢运动障碍患者的步行辅助。现有外骨骼机器人大部分采用欠驱动模式，导致一系列使用问题，如行走过程中步行干扰和不自然步态。提出一种新型智能自主下肢外骨骼(Auto-LEE)，旨在改善穿戴式助行器用户体验，扩大应用范围。与传统外骨骼不同，Auto-LEE有10个自由度，所有关节都由直流电机独立驱动，使机器人能在无外部支撑下保持平衡行走。此外，在设计中采用模块化结构理念，在控制系统中考虑多模态人机交互。为验证机器人自主平衡双足行走能力，对比3种常用步态规划算法，初步实现行走实验。

Abstract

Today

exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity.Most existing exoskeletons are under-actuated

resulting in a series of problems

e.g.

interference and unnatural gait during walking.In this study

we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE)

aiming at improving the user experience of wearable walking aids and extending their application range. Unlike traditional exoskeletons

Auto-LEE has 10 degrees of freedom

and all the joints are actuated independently by direct current motors

which allows the robot to maintain balance in aiding walking without extra support. The new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system.To validate the ability of self-balancing bipedal walking

three general algorithms for generating walking patterns are researched

and a preliminary experiment is implemented.

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