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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Control of a Series Elastic Actuator With Clutch for Hip Exoskeleton for Precise Assistive Magnitude and Timing Control and Improved Mechanical Safety
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Design and Control of a Series Elastic Actuator With Clutch for Hip Exoskeleton for Precise Assistive Magnitude and Timing Control and Improved Mechanical Safety

机译：髋关节外骨骼带离合器系列弹性致动器的设计和控制，可实现精确的辅助幅度和定时控制，并提高机械安全性

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摘要

Transparency and guaranteed safetyare important requirements in the design of wearable exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain level of voluntary motor control. Specifically, precision in torque delivery timing and magnitude, robustness, disturbance rejection, and repeatability are desired in the actuator design and control. Motivated by these needs, this study aims to develop a series of elastic actuatorswith clutch(SEAC) thatcan precisely generate the desired assistance in terms of both timing and torque magnitude for a wearable hip exoskeleton and guarantee the wearers safety at the same time. The proposed mechanical design improves actuator transparency and safety by a mechanical clutch that automatically disengages the transmission when needed. A newtorquecontrol for the SEAC,based on singular perturbationtheory with flexible compensation techniques, is proposed to precisely control the assistive torque by rejecting the undesired human motion disturbance. The mechanical design of the proposed device and the design of asingular perturbationcontrol algorithm are discussed, and the SEAC performance is verified by experiments. Experimental results, derived from a test with a human subject, are presented to demonstrate theprecision of the assistive torqueand timingcontrolof the SEAC while interacting with a human wearer.
机译：透明度和保证的安全性是可穿戴式外骨骼执行器设计的重要要求，适用于肢体赤字较低但仍保持一定水平的自主运动控制的个人。具体地，在致动器的设计和控制中，期望转矩传递定时和大小，鲁棒性，干扰抑制和可重复性方面的精度。基于这些需求，本研究旨在开发一系列带有离合器（SEAC）的弹性致动器，它们可以在可穿戴髋关节外骨骼的正时和扭矩大小方面精确地产生所需的辅助，并同时确保穿戴者的安全。所提出的机械设计通过机械离合器提高了执行器的透明度和安全性，该机械离合器在需要时可自动分离变速器。提出了一种基于奇异摄动理论和灵活补偿技术的SEAC新型转矩控制方法，通过拒绝不希望的人体运动干扰来精确控制辅助转矩。讨论了该装置的机械设计和奇异摄动控制算法的设计，并通过实验验证了SEAC的性能。提出了从对人类受试者进行的测试得出的实验结果，以证明SEAC在与人类佩戴者互动时的辅助扭矩和定时控制的精度。

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