发表机构
Beihang University; Longyan University（北京航空航天大学; 龙岩学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种缆驱动可切换执行器，可在扭矩/拉力双模式间快速切换，结合近端传感与迭代学习控制，实现高效稳定力输出，适用于外骨骼多样化训练场景。
AI 中文摘要
现有的可穿戴外骨骼架构通常受限于单一的机械输出模式，要么在解剖关节周围提供关节扭矩，要么沿肢体训练方向提供线性牵引，这限制了对多样化训练场景的适应性。本文提出了一种缆驱动可切换执行器（CDSA），可在扭矩模式和拉力模式之间快速切换，同时将所有传感和驱动组件集中在近端驱动单元。耦合移动滑轮机构（CMPM）在远端末端执行器处提供拉力放大，而双向缆驱动棘轮机构（CDRM）实现模式切换和预紧调节。为了消除对远端仪器化的需求，多源近端传感器与数据驱动融合模型集成，以估计远端输出力。进一步开发了基于迭代学习控制（ILC）的自适应双模式力控制策略。平台实验表明，在扭矩和拉力模式下，传动效率分别为$(92.4 \pm 2.0)\\%$和$(96.5 \pm 3.3)\\%$，在拉力模式下拉力放大比为$2.77 \pm 0.10$。对模拟膝关节步态轨迹和短行程拉力曲线的跟踪测试产生了稳定的控制，RMSE分别为不受控峰值的$(4.52 \pm 0.51)\\%$和$(3.15 \pm 0.19)\\%$。最后，坐姿人体耦合实验验证了系统在关节扭矩和线性牵引应用模式下可控力生成的能力。
英文摘要
Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, providing either joint torque around an anatomical joint or linear traction along a limb-training-oriented direction, which limits adaptability to diverse training scenarios. This letter presents a cable-driven switchable actuator (CDSA) that can rapidly switch between torque and tension modes while centralizing all sensing and actuation components at the proximal drive unit. A Coupled Movable Pulley Mechanism (CMPM) provides tension amplification at the distal end-effector, while a bidirectional Cable-Driven Ratchet Mechanism (CDRM) enables mode switching and preload regulation. To eliminate the need for distal instrumentation, multi-source proximal sensors are integrated with a data-driven fusion model to estimate distal output forces. An adaptive dual-mode force control strategy based on iterative learning control (ILC) is further developed. Platform experiments demonstrate transmission efficiencies of $(92.4 \pm 2.0)\%$ and $(96.5 \pm 3.3)\%$ in the torque and tension modes, respectively, along with a tension amplification ratio of $2.77 \pm 0.10$ under tension mode. Tracking tests on simulated knee-joint gait trajectories and short-stroke tension profiles yield stable control, with RMSEs of $(4.52 \pm 0.51)\%$ and $(3.15 \pm 0.19)\%$ of the uncontrolled peak value, respectively. Finally, seated human-coupled experiments validate the system's controllable force generation in both joint-torque and linear-traction application modes.
