仿生工程学报 ›› 2018, Vol. 15 ›› Issue (2): 247-259.doi: https://doi.org/10.1007/s42235-018-0019-7
Mechatronic Design of a Synergetic Upper Limb Exoskeletal Robot and Wrench-based Assistive Control
Lei He1, Caihua Xiong1*, Kai Liu1, Jian Huang2, Chang He1, Wenbin Chen1
- 1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
2. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China
Mechatronic Design of a Synergetic Upper Limb Exoskeletal Robot and Wrench-based Assistive Control
Lei He1, Caihua Xiong1*, Kai Liu1, Jian Huang2, Chang He1, Wenbin Chen1
- 1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
2. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China
摘要： Upper limb exoskeletal rehabilitation robots are required to assist patients’ arms to perform activities of daily living according to their motion intentions. In this paper, we address two questions: how to design an exoskeletal robot which can mechanically reconstruct func-tional movements using only a few actuators and how to establish wrench-based assistive control. We first show that the mechanism replicating the synergic feature of the human upper limb can be designed in a recursive manner, meaning that the entire robot can be constructed from two basic mechanical units. Next, we illustrate that the assistive control for the synergetic exoskeletal robot can be transformed into an optimization problem and a Riemannian metric is proposed to generate anthropomorphic reaching movements ac-cording to contact forces and torques. Finally, experiments are carried out to verify the functionality of the proposed theory.