WALK-ASSISTING BALANCE SYSTEM OF THE EXOSKELETON ROBOT FOR DISABLED PEOPLE.pdf

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1、维普资讯http://www.cqvip.comCHINESEJOURNALOFMECHANICALENGINEERINGVo1．17，No．2，2004·263·YinYuehongZhouChunlinLK．ASSlSTlNGBALANCESongJiarenSYSTEMOFTHEEXOSKELETONChenShiyiROBOTFORDISABLEDPEOPLE木HanTianpuAbstract：Anove1methodologyforawalk—assistingbalancesystemoftheexoskeletonrobotfor

2、dis—ZhouChenabledpeopleispresented．Theexperimentonthewalk—assistingbalancesystemisimplementedusingamini—typeropewalkerrobot．Themechanismoftheropewalkerrobotisdesigned．itsdynamicmodelisResearchInsUtuteofRobotics，built，anditscontro1systembasedonPwMisdeveloped．TheemulationsinMat

3、labandtheresultsofShanghaiJiaotongUniversity,experimentsprovethatthismethodologyisefective．Shanghai200030，ChinaKeywords：BalancesystemRopewalkerrobotExoskeletonrobotforcedbyamomentofM,inaxisY，thetopwillhaveadeflection0INTRoDUCTIoNatanangularvelocityofinaxisY，andproduceaprocess

4、ionthatmakesthetopturnanangleof最TheturningangularvelocityThewalk—assistingexoskeletonrobot．aspecialartificiallimb0tthetopisp，andp=一Mlv／Lcosf1．Angularvelocitypmatcomprisesthelowerlimbsofthehumanbody,isanapplica—tionoftheintegratedexoskeletonrobotsinlowerartificiallimbs．produce

5、sthemomentofthetopMa，whosedirectionisoppositetoItisanimportantmeansinhelpingdisabledpeopletorehabilitateLeM

6、y．CombiningMG：一￡pcosflwith骞itgetwalkingability．Atpresent．overl0millionpeopleinChinaaredeformedorparalyzedinthelowerlimbs．andthenumbercon—G=LcosflM／Lcosfl=Mfy(1)tinuesto

7、increaseatarateof400thousandperyear．Sincethepurposeofresearchineveryfieldistofulfillthehumanbeing’sdemands，researchofthewalkassistingsystemforhelpingdis—abledpeopletorehabilitatewalkingabilityisofextraordinaryTimportance．Infact，thewalk—assistingexoskeletonrobotisahu—man-machi

8、nesystem．Itsmainproblemsarestabilityassurance，su币cienthuman．machineinterface．autonomouscontrolandde—creaseofenergyconsumption．However,keepingbalanceisthepreconditionforhelpingdisabledpeopleusinganexoskeletonrobottowalk，sothatthetechnologyofthebalancesystemisthekernelofthewalk

9、—assistingsystem．Thebalancesystemofthewalk—assistingrobotisamecha—tr