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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton With High Backdrivability and High Bandwidth
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Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton With High Backdrivability and High Bandwidth

机译：用于轻质髋关节外骨骼的准直接驱动驱动，具有高的体现性和高带宽

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摘要

High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic actuators, have to compromise bandwidth to improve compliance (i.e., backdrivability). In this article, we describe the design and human-robot interaction modeling of a portable hip exoskeleton based on our custom quasi-direct drive actuation (i.e., a high torque density motor with low ratio gear). We also present a model-based performance benchmark comparison of representative actuators in terms of torque capability, control bandwidth, backdrivability, and force tracking accuracy. This article aims to corroborate the underlying philosophy of "design for control," namely meticulous robot design can simplify control algorithms while ensuring high performance. Following this idea, we create a lightweight bilateral hip exoskeleton to reduce joint loadings during normal activities, including walking and squatting. Experiments indicate that the exoskeleton is able to produce high nominal torque (17.5 Nm), high backdrivability (0.4 Nm backdrive torque), high bandwidth (62.4 Hz), and high control accuracy (1.09 Nm root mean square tracking error, 5.4% of the desired peak torque). Its controller is versatile to assist walking at different speeds and squatting. This article demonstrates performance improvement compared with state-of-the-art exoskeletons.
机译：高性能执行器至关重要，可以实现可穿戴机器人的机械多功能性，这是重量轻，高度反应的，高带宽。最先进的执行器，例如系列弹性致动器，必须损害带宽以改善合规性（即，等离活力）。在本文中，我们基于我们的自定义准直接驱动致动（即，具有低比率齿轮的高扭矩密度电动机），描述便携式髋关节外骨骼的设计和人机机器人交互建模。我们还提出了一种基于模型的代表性执行器的基于模型的性能基准比较，在扭矩能力，控制带宽，等离处性和力跟踪精度方面。本文旨在证实“控制设计设计”的潜在理念，即细致的机器人设计可以简化控制算法，同时确保高性能。在这个想法之后，我们创造了一个轻量级的双侧髋关节屏幕，以减少正常活动期间的关节载荷，包括步行和蹲。实验表明，外骨骼能够产生高标称扭矩（17.5nm），高度反应性（0.4 nm的反扭矩），高带宽（62.4 Hz）和高控制精度（1.09 nm均方形跟踪误差，5.4％所需的峰值扭矩）。它的控制器是多功能的，可以帮助走路以不同的速度和蹲下来行走。本文展示了与最先进的外骨骼相比的性能改进。

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