实现下肢外骨骼的坐、站、静态行走控制，解决高自由度混合结构建模难题。
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
- 采用串行抽象简化模型，高效求解最优轨迹。
- 利用完整混合模型生成满足102个约束的执行指令。
- 实测验证了坐、站、走等动作的有效性，适合康复机器人研发者参考。
本文展示了Recupera-Reha下肢外骨骼机器人的功能提升。该外骨骼采用串联-并联混合结构，具有多个运动学环路，其树状结构含148个自由度，且存在102个独立的环路闭合约束，给建模与控制带来巨大挑战。为应对这一难题，本文提出一种最优控制方法，生成坐姿、站立及静态行走等可行轨迹，并在实际外骨骼上进行测试。方法先通过模型的串行抽象高效求解最优控制问题以获得轨迹，再利用完整的串联-并联混合模型（包含所有运动学环路约束）生成最终的驱动指令。实验结果表明，该方法能有效生成外骨骼期望运动，具备实际应用价值。
原文摘要 · Abstract (English)
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of freedom in its spanning tree and 102 independent loop closure constraints, which poses significant challenges for modeling and control. To address these challenges, we applied an optimal control approach to generate feasible trajectories such as sitting, standing, and static walking, and tested these trajectories on the exoskeleton robot. Our method efficiently solves the optimal control problem using a serial abstraction of the model to generate trajectories. It then utilizes the full series-parallel hybrid model, which takes all the kinematic loop constraints into account to generate the final actuator commands. The experimental results demonstrate the effectiveness of our approach in generating the desired motions for the exoskeleton.
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