手臂康复机器人阻抗控制实验研究  

Experimental research on impedance control of arm rehabilitation robots

作　　者：张立勋[1] 杨勇[1] 张今瑜 佟杰[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2008年第1期69-72,84,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60575053);国际科技合作项目(WC03113)

摘　　要：手臂康复机器人是一种用于因偏瘫、外伤等造成手臂运动障碍患者的辅助康复训练机器人,考虑到患者训练的安全性和舒适性,需要机器人有一定的柔顺性.对此,在控制模型中引入阻抗控制.建立并分析了手臂肌力训练模式目标阻抗控制模型,在此基础上进行了简化.建立了基于dSPACE实时仿真平台的半物理仿真实验系统,以回转关节为例,给出了不同控制参数下的力与关节角度曲线,分析了控制参数对控制效果的影响,结果表明控制模型的可行性和有效性.Arm rehabilitation robots are used to assist patients with arm movement disorders due to hemiplegia or injury. These robots must be able to comply with a patient＇s need for safety and comfort, meaning that forces applied by the robot must not exceed those tolerated by the patient. To this end, we incor porated impedance control in our robot control model. An impedance control model for a muscular strength training mode is proposed, analysed and simplified. A hybrid simulation system for the arm rehabilitation robot was established on the dSPACE real-time simulation platform. Experimental research is presented on the robot＇s revolute joints. The curves of force versus joint angles with different control parameters are given. The influence of various control parameters on the results are analysed, proving the feasibility and validity of this control model.

关 键 词：手臂康复训练 机器人 阻抗控制 实验研究 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]