第44卷第1期2014年1月东南大学学报(自然科学版)JOURNALOFSOUTHEASTUNIVERSITY(NaturalScienceEdition)Vol.44No.1Jan.2014doi:10.3969/j.issn.1001-0505.2014.01.016在摆动相中用于下肢外骨骼跟踪人体踝关节轨迹的方法贾山1路新亮1韩亚丽2王兴松1(1东南大学机械工程学院,南京211189)(2南京工程学院机械工程学院,南京211167)摘要:为实现外骨骼摆动腿踝关节对人体踝关节运动轨迹的跟踪,建立了外骨骼摆动腿逆运动学模型与卡尔曼滤波预测模型,并在外骨骼摆动腿踝关节处设置人机位姿误差传感器,同时进行了人体步态实验.仿真中以实验测取的人体踝关节相对于其髋关节的运动轨迹作为外骨骼踝关节的跟踪对象,并依此计算外骨骼踝关节处人机位姿误差.采用卡尔曼滤波器对外骨骼摆动腿的髋、膝关节位置进行预测,再利用外骨骼逆运动学模型对预测结果进行校正.结果表明:该方法能良好地实现外骨骼摆动腿踝关节对人体踝关节的运动轨迹跟踪,并且卡尔曼滤波预测能明显改善跟踪的滞后性,同时仅需检测外骨骼踝关节处的人机位姿误差也有助于简化人机之间的传感器布置.关键词:人机位姿误差;踝关节;运动学逆解;卡尔曼滤波预测中图分类号:TP242.3文献标志码:A文章编号:1001-0505(2014)01008706MethodforlowerextremityexoskeletonsanklejointtrajectorytotrackhumansinswingphaseJiaShan1LuXinliang1HanYali2WangXingsong1(1SchoolofMechanicalEngineering,SoutheastUniversity,Nanjing211189,China)(2SchoolofMechanicalEngineering,NanjingInstituteofTechnology,Nanjing211167,China)Abstract:Toachievethetrackingoftheexoskeletonsanklejointmotiontrajectorytothehumansintheswingphaseofagait,aninversekinematicsmodeloftheexoskeletonsswinglegandaKalmanfilteringpredictionmodelareestablished.Humanmachinepostureerrorsensorsaresetontheexoskeletonsanklejoints.Meanwhile,humangaitexperimentsarecarriedout.Inthesimulation,thetrajectorydataofthehumansanklejointrelativetothehipjointobtainedintheexperimentsaretakenasthereferencetrajectoryoftheexoskeletonsanklejointandthecalculationbasisofthehumanmachinepostureerrorattheexoskeletonsanklejoint.TheKalmanfilterisemployedtopredicttheangularpositionsoftheexoskeletonshipandkneejoints.Then,theresultsofinversekinematicsoftheexoskeletonareutilizedtocorrecttheprediction.Thesimulationresultsindicatethatthismethodcanwellachievethetr...