预览加载中，请您耐心等待几秒...

下肢外骨骼助力机器人控制系统研究.docx

预览
1/3
2/3
3/3

在线预览结束，喜欢就下载吧，查找使用更方便

下载提示 文本预览

如果您无法下载资料，请参考说明：

1、部分资料下载需要金币，请确保您的账户上有足够的金币

2、已购买过的文档，再次下载不重复扣费

3、资料包下载后请先用软件解压，在使用对应软件打开

下肢外骨骼助力机器人控制系统研究 Title:ResearchonControlSystemsforLowerLimbExoskeletonAssistiveRobots 1.Introduction Thedevelopmentoflowerlimbexoskeletonassistiverobotshasgainedsignificantattentioninrecentyearsduetotheirpotentialtoenhancemobilityandrehabilitationforindividualswithmobilityimpairments.Thesewearableroboticdevicesaredesignedtoaugmenthumanstrengthandendurancebyprovidingextrasupporttothelowerlimbs.Thesuccessfulimplementationofthesedevicesheavilyreliesontheefficiencyandaccuracyofthecontrolsystemsemployed.Thispaperaimstoexplorevariousaspectsofcontrolsystemsforlowerlimbexoskeletonassistiverobots. 2.OverviewofLowerLimbExoskeletonAssistiveRobots 2.1DescriptionandFunctionality Lowerlimbexoskeletonsconsistofmechanicalstructuresthatarewornexternallyoverthelowerlimbs.Thesestructuresareequippedwithactuators,sensors,andcontrolsystemstoprovideassistanceduringwalking,running,andothermobilitytasks.Thecontrolsystemsplayacrucialroleinensuringsmoothandseamlessinteractionbetweentheuserandtheexoskeleton. 2.2KeyChallengesinControlSystems Efficientcontrolsystemsforlowerlimbexoskeletonsfaceseveralchallenges,includingreal-timemonitoringofuserintention,stabilityandadaptabilitytodifferentenvironments,energymanagement,coordinationwithhumanmovements,andintuitiveuserinterfaces.Addressingthesechallengesiscrucialforthesuccessofsuchassistiverobots. 3.ControlStrategiesforLowerLimbExoskeletonAssistiveRobots 3.1SensorsandSignalProcessing Effectivecontrolsystemsrelyonaccuratesensingandsignalprocessing.Sensorssuchasjointanglesensors,forcesensors,andinertialmeasurementunits(IMUs)providevaluableinformationabouttheuser'smovementsandintentions.Advancedsignalprocessingtechniquesarethenusedtointerpretandtranslatethesesignalsintomeaningfulcontrolcommands. 3.2ActuatorControl Thecontrolofactuatorsinlowerlimbexoskeletonsiscriticalforprovidingproperassistanceandgeneratingdesiredmovements.Differentactuatortechnologies,suchaspneumatic,hydraulic,andelectric,eachhaveuniquecontrolrequirements.Controlstrategiesneedtoconsid