用差速传动实现双电机协同，无需扭矩传感器也能精准控力。
Friction Characterization of a Cable-Driven Differential Actuation System for Lower-Limb Exoskeletons
- 通过线性差速映射让双电机共享关节扭矩，降低系统复杂度。
- 基于模型的摩擦估计算法使无传感器扭矩估计误差小于5%。
- 适合追求轻量化与低成本的下肢外骨骼研发团队使用。
下肢外骨骼需在保证轻量化和低占用的前提下实现精确的关节扭矩控制。传统方案依赖独立驱动关节和关节级扭矩传感器，导致系统复杂且重量增加。本文提出一种新型差速驱动架构，用于髋膝屈伸运动，通过电机与关节间的线性差速映射实现双电机协同扭矩分配。为补偿传动损耗，开发了基于模型的摩擦估计算法，并在物理样机上实验验证，成功实现了无扭矩传感器条件下的精确关节扭矩估计，验证了该差速驱动髋膝模块在下肢外骨骼中的可行性。
原文摘要 · Abstract (English)
Lower-limb exoskeletons require actuation systems that can provide accurate joint torque control while preserving low mass and encumbrance. Conventional architectures often rely on independently actuated joints and joint-level torque sensors, increasing system complexity and weight. This paper presents a novel differential actuation architecture for hip-knee flexion/extension, enabling cooperative torque sharing between two motors via a linear differential mapping between motor and joint. To compensate for transmission losses, a model-based friction estimation strategy is developed and experimentally implemented, allowing accurate joint torque estimation without the need for torque sensors. The proposed solution is validated on a physical prototype, demonstrating the feasibility of sensorless torque estimation in a differentially actuated hip-knee module of a lower-limb exoskeleton.
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