基于分层触发控制的机器人辅助肌力训练临床实验研究  

Clinical Experimental Research on a Hierarchically Triggered Control Method for Robot-assisted Muscle Strength Training

作　　者：徐国政[1] 宋爱国[2] 潘礼正[2] 高翔[1] 梁志伟[1] 徐宝国[2] 

机构地区：[1]南京邮电大学自动化学院网络机器人控制实验室,江苏南京210046 [2]东华理工大学机械与电子工程学院,江西南昌330013

出　　处：《机器人》2013年第3期269-275,共7页Robot

基　　金：国家自然科学基金资助项目(61104206,61104216);江苏省自然科学基金资助项目(BK2010063,BK2012832);江苏省高校自然科学基金资助项月(12KJB510015);南京邮电大学人才引进基金资助项目(NY211020,NY211067)

摘　　要：针对目前机器人辅助抗阻训练过程中肌力训练方法大多是在参考轨迹设定框架内根据受试者的运动行为来设计底层阻力控制器的局限,提出一种新的模糊自适应分层触发肌力训练控制方法.该方法无需事先设定训练参考轨迹,首先根据训练过程中患肢运动性能设计上层渐进抗阻基础阻力监督控制器,得到单节训练的基础阻力;再通过计算单节训练过程中患肢生物阻抗的变化设计下层自适应阻力触发控制器,根据生物阻抗变化值对节内训练阻力作进一步调整.临床实验结果验证了所提控制策略的有效性.A new fuzzy adaptive hierarchically triggered control method for muscle strength training is presented to solve the deficiency that the muscle strength training methods in existing robot-aided resistance training systems are all constructed within the framework of predefined reference trajectory by designing low-level resistive force controller according to the participant＇s motor behavior.The new method is developed without the need of predefined training trajectory,and firstly a high-level progressive resistance supervisory controller of resistive force is designed based on the impaired limb＇s motor performance to determine the basic resistive force for each training session.Secondly,a low-level adaptive resistive force triggered controller is constructed according to the impaired limb＇s bio-impedance changes to further adjust the resistive force in each training session.Finally,the effectiveness and potentialities of the proposed control strategy are verified with clinical experimental results.

关 键 词：康复机器人 模糊逻辑 分层触发控制 临床实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]