能量辅助骨骼服NAEIES的开发

Development of Power Assistance Exoskeleton Suit (NAEIES)

摘要:

骨骼服是一种辅助人承受负载,有效增强人的负重能力,并帮助人们在各种地形条件下行走,结合了人的智能和机械动力装置的机械能量的一种人机结合的机器人。文章介绍了海军航空工程学院开发的能量辅助骨骼服(NAEIES)的系统组成及工作原理。NAEIES采用上肢控制下肢的原理,通过测量上肢的运动信息,控制下肢膝关节的运动,而下肢髋关节的运动则通过气弹簧来巧妙地实现,良好的实现了骨骼服在承载的同时,跟踪人的行走步态。

Abstract:

Exoskeleton Suit (NAEIES) is a kind of human-machine robot that combines the human's intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains. A prototype of NAEIES is proposed in this paper. The operator controls NAEIES. When the operator wants to walk, he swings his arm, and then the motion of the arm is measured by the potentiometer instrumented on the arm. The microcontroller controls the knee joint to rotate using the signal gets from the potentiometer. A mechanism composed of gas spring makes the hip joint rotate as the knee joint move, and as a result the NAEIES matching the kinematics of the human as well as carrying the load.