外骨骼式上肢康复机器人力辅助控制  

Controlled assistance by an exoskeletal rehabilitation robot for upper limbs

作　　者：李庆玲[1] 叶腾茂[1] 杜志江[1] 孙立宁[1] 王东岩[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：《哈尔滨工程大学学报》2009年第2期166-170,177,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60505016);长江学者创新团队计划资助项目(IRT0423);黑龙江省科技攻关资助项目(GB04A502-2);哈尔滨市基金资助项目(2004AFQXJ01)

摘　　要：针对由脑中风引起的偏瘫患者,提出了一种新型的5 DOF外骨骼式上肢康复机器人.为激励患者肢体的主动运动意识,促进患肢康复,提出了机器人辅助运动模式.上肢复合运动力辅助控制通过实时获取各关节力矩信号来判断人体上肢的运动意图所产生的作用力方向与大小.为实时跟随患者上肢运动意图,利用比例控制器对肢体末端运动速度进行控制,从而驱动各关节完成运动.实验结果表明该方法较好地实现了患者肢体空间复合运动的实时力辅助.A novel 5 DOF exoskeletal upper-limb rehabilitation robot was implemented for hemiplegia caused by a stroke. To inspire alertness during active exercise and to promote rehabilitation of an impaired arm, a control meth- od was developed for assisted action during complex motion of upper limbs. Torque signals for each joint were ac- quired in real time to estimate the magnitude and the orientation of action caused by conscious movement. To follow the intention of hemiplegic patient＇s movement, a proportional controller was used to control terminal velocity to match motion. Experimental results show that the method presented effectively assists patients＇ complex arm movements in real time.

关 键 词：上肢康复机器人 力辅助 患者意图 比例控制器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]