下肢外骨骼机器人控制策略分析与展望

针对医疗康复领域,下肢外骨骼机器人控制策略决定了机器人在运行过程中的安全性、稳定性和快速性,从基于模型的控制策略和受生物启发控制策略两方面简述了下肢外骨骼机器人控制策略研究现状,特别对基于行为的机器人控制和中央模式发生器(central pattern generator,CPG)生物控制作了重点介绍。最后分析了下肢外骨骼机器人控制策略研究趋势并提出基于本体感受的反应式行为控制的智能行为技术。

Analysis and Prospect of Control Strategy of Lower Extremity Exoskeleton Robot

For the field of medical rehabilitation, the control strategy determines the safety, stability and rapidity of the Lower limb exoskeleton robot in the process of operation. This article briefly describes the research status in terms of model-based control strategy and bio-inspired control strategy, the focus is on behavior-based robot control and CPG biological control. Finally, the article analyzes the research trends of control strategies for Lower limb exoskeleton robot and Proposes intelligent behavior technology based on proprioception and reactive behavior control.