外骨骼机械手控制系统设计  

Design of control system for an exoskeleton robot

作　　者：陈宏伟[1] 张福海[1] 付宜利[1] 王翔宇[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期320-323,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61203347);中央高校基本科研业务费专项资金资助项目(HIT.NSRIF2013047);中国博士后科学基金资助项目(2013M531023)

摘　　要：针对脑卒中患者康复需求,研制了一种外骨骼机械手控制系统.该控制系统由现场可编程门阵列(FPGA)单芯片系统、传感器采集系统以及基于Android系统的人机交互软件组成.基于FPGA单芯片系统,通过力传感器、角度传感器和编码器实时采集外骨骼机械手和患者手指的运动状态信息,并通过总线与控制系统进行通信;采用Android系统人机交互软件能够诱导患者主动进行康复治疗;该控制系统可通过检测患者手指与外骨骼机械手的接触力实现自主切换主动或被动控制策略.实验表明该系统运行稳定、与人机交互软件间的通信可靠,能够满足患者的康复需求.In order to meet the demand of stroke patient rehabilitation,the control exoskeleton robot was developed.The control system consisted with single-chip system of field programmable gate array(FPGA),sensor acquisition system and human robot interaction software based on Android system. Through force sensor,angle sensor and encoder,the single-chip system could collect motion state information for exoskeleton robot and patient′s hand in real-time.The sensors could communicate with the control system via bus.The human robot interaction software based on Android could lead patient to take initiative for the purpose of rehabilitation.In the control system,the active control mode and passive control mode were auto-switched by detecting the force between patient′s hand and exoskeleton robot.The result shows that the control system is stable,which can meet the rehabilitation requirement of patients,and the communication between man-machine software and control system is reliable.

关 键 词：外骨骼机械手 控制系统 病人康复 人机交互 现场可编程门阵列 ANDROID 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]