| 步态康复机器人动力学李群李代数建模及仿真 |
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| 引用本文： | 郭冰菁,韩建海,李向攀,闫琳.步态康复机器人动力学李群李代数建模及仿真[J].系统仿真学报,2020,32(6):1126-1135. |
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| 作者姓名： | 郭冰菁 韩建海 李向攀 闫琳 |
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| 作者单位： | 1. 河南科技大学机电工程学院，河南 洛阳 471003;2. 河南省机器人与智能系统重点实验室，河南 洛阳 471003;3. 机械装备先进制造河南省协同创新中心，河南 洛阳 471003;4. 武汉库柏特科技有限公司，湖北 武汉 430074 |
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| 基金项目： | 河南省科技攻关项目(172102210036)，河南省科技攻关项目(192102210065) |
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| 摘 要： | 结合刚性支撑与柔性驱动设计气压驱动步态康复机器人，为探究机器人和患者构成的人机共融系统动力学特性，基于李群李代数理论建立了不同步态相下人体步行动力学模型、机器人和人机系统动力学模型，对被动、主动助力、主动抗阻3 种不同康复训练模式中的驱动特性和能量特性进行了分析。仿真求解出机器人关节驱动力矩、人体关节主动力矩，验证了李群李代数法建模的正确性及动力学模型的有效性，为驱动控制系统构建及交互控制策略设计提供理论参考依据。
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| 关 键 词： | 步态康复机器人 人机共融 李群李代数 动力学 仿真 |
| 收稿时间： | 2018-11-15 |
Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory |
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| Guo Bingjing,Han Jianhai,Li Xiangpan,Yan Lin.Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory[J].Journal of System Simulation,2020,32(6):1126-1135. |
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| Authors: | Guo Bingjing Han Jianhai Li Xiangpan Yan Lin |
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| Institution: | 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;2. Henan Provincial Key Laboratory of Robotics and Intelligent System, Luoyang 471003, China;3. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003, China;4. Wuhan COBOT Technology Co., Ltd., Wuhan 430074, China |
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| Abstract: | A pneumatic-driven gait rehabilitation robot based on rigid mechanism and flexible driver is designed. To explore the dynamic characteristics of the human-robot harmony system constructed by patients and the exoskeleton robot, the dynamic models of human, robot and human-robot system in different gait phases are established based on Lie group and Lie algebra theory. The driving and energy characteristics of three rehabilitation training modes of passive, active assistance and resistance are analyzed. The robot joint driven moment and the human active moment are simulated to verify the Lie group and Lie algebraic modeling method and the dynamic model. It provides a reference to the construction of the robot driving system and the design of the human-robot interaction control strategy. |
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| Keywords: | gait rehabilitation robot human-robot harmony Lie group and Lie algebra theory dynamics simulation |
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