康复机器人患肢参数的在线辨识  

ONLINE IDENTIFICATION OF PARAMETER FOR IMPAIRED LIMB OF REHABILITATION ROBOTS

作　　者：李爱玲[1] 郭晓波[1] 

机构地区：[1]安阳工学院计算机科学与信息工程学院,河南安阳455000

出　　处：《计算机应用与软件》2012年第8期70-73,144,共5页Computer Applications and Software

基　　金：国家自然科学基金项目(60475034)

摘　　要：根据患肢训练时力和位置等信息反馈,提出用解超定方程组的方法在线辨识患肢的动力学参数,实现患肢动力学模型的在线辨识,为远程康复训练机器人系统的实时控制提供较为准确的依据。仿真实验验证,该方法能较好地改善系统的动态性能,使系统具有较好的稳定性和鲁棒性。According to the feedback of force and position information in regard to impaired limb training, a new method is presented which uses over-determined equations solution to make online identification of dynamics parameters of impaired limbs, and implements the on- line identification of the dynamics model of impaired limbs. This method provides an accurate basis for real-time controlling of the remote re- habilitation training robot system. The simulative experiment verification has been made as well, the result shows that the proposed method can well improve the dynamic performance of the system, and enables the system with better stability and robust.

关 键 词：康复机器人 患肢 参数变化 在线辨识 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]