外骨骼机器人控制方法综述

Summarize on the Control Method of Exoskeleton Robot

摘要:

外骨骼是一种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,它可以辅助人承受负载,有效增强人的负重能力,帮助人们在各种复杂地形上面行走。外骨骼技术是一种复杂的人机技术,在国际上发展迅速,但在我国还处于起步阶段。文章介绍了外骨骼技术的研究现状,详细论述了外骨骼的控制目标和各种控制方法,希望引起研究人员对外骨骼技术发展的重视,促进我国在外骨骼领域的发展。

Abstract:

Exoskeleton is a kind of human-machine robot which combines the human’s intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains. Exoskeleton is a complex human-machine technique, and had rapidly developed in the world, but be in start phase in our country. The state of the art of the exoskeleton technique was introduced in this paper, and the control objective and kinds of control motheds was discussed. The goal of this paper is to draw researcher’s attentions to the promotion of the development of exoskeleton technique in China.