基于外骨骼技术的舱外作业下肢运动能力增强技术

摘要

In the future, the astronauts will have to do more complex extravehicular activity( EVA) tasks with more equipments and payloads in a variety of harsh environments for longer time.There-fore, the requirements on astronaut’ s locomotion capacity during EVA tasks will be higher.In this paper, a technology based on human exoskeleton was introduced to enhance the locomotion capacity of Lower Extremity.The astronaut’ s exoskeleton includes the bionic mechanical structure, actua-tors, energy system, sensing system and control system.The technical approaches mainly include:establishing the dynamic model of the astronaut ’ s exoskeleton system, perceiving the posture of limbs and movement intention, controlling the actuators to enhance the movement ability of the lower extremity.The validity of the astronaut’ s exoskeleton system was demonstrated by the ground experi-mental data and simulation.%针对未来航天活动中航天员面对的在复杂环境下携带大量载荷进行长时间、大范围舱外作业的需求对航天员舱外运动能力要求较高的背景，阐述了一种基于外骨骼技术的舱外作业下肢运动能力增强技术，介绍的外骨骼系统包括仿形机械结构分系统、执行机构分系统、能源分系统、感知分系统和控制分系统，还重点介绍了动力学分析与建模、运动状态和运动意图感知、实时控制等关键技术，并通过地面实验数据和仿真证明了这种方法的有效性。