基于阻抗控制的步行康复训练机器人的轨迹自适应  

Trajectory Adaptation for Impedance Control Based Walking Rehabilitation Training Robot

作　　者：文忠[1] 钱晋武[1] 沈林勇[1] 章亚男[1] 

机构地区：[1]上海大学机电工程与自动化学院智能机械与系统实验室,上海200072

出　　处：《机器人》2011年第2期142-149,共8页Robot

基　　金：国家863计划资助项目(2006AA04Z224);国家自然科学基金资助项目(50975165);上海市学科带头人计划资助项目(10XD1401900);上海大学研究生创新基金资助项目(SHUCX102194).

摘　　要：把阻抗控制理论运用到步行康复训练机器人系统中,使用基于位置的阻抗控制模型设计了系统的控制器.提出基于阻抗模型的步态轨迹自适应算法,并分析了系统的误差.在建立的SolidWorks、Matlab、Adams虚拟样机联合仿真平台上进行了主动康复训练的仿真实验,并在实物样机上进行了健康训练者的实验.结果表明,该控制器能够实现机器人根据人机交互作用力的变化不断调整步态轨迹,适应患者的步态要求,并可通过调节阻抗参数改变步态自适应程度和训练的柔顺性,满足患者主动参与康复训练的目的.The impedance control theory is applied to the walking rehabilitation robot system,and the location-based impedance control model is used to design system controller.Impedance model based gait trajectory adaption algorithm is proposed,and the system error is analyzed.SolidWorks,Matlab and Adams are integrated as a united simulation platform for virtual prototype of the robot to develop the experiment of active training,and the experiments with healthy subjects are implemented on physical prototype.The results show that the robot can constantly adjust its gait trajectory according to human-machine interaction force to meet the patients＇ gait request,and the adaptation level of gait and the training flexibility can be improved by adjusting the impedance parameters.The controller serves the purpose that patients can participate in rehabilitation training actively.

关 键 词：步行康复训练机器人 阻抗控制 步态轨迹自适应 联合仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]