下肢康复机器人轨迹自适应滑模阻抗控制  

Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot

作　　者：曹福成[1,2] 邢笑雪[2] 李元春[3] 赵希禄 

机构地区：[1]吉林大学通信工程学院,长春130022 [2]长春大学电子信息工程学院,长春130022 [3]长春工业大学电气与电子工程学院,长春130012 [4]日本琦玉工业大学工学部

出　　处：《吉林大学学报（工学版）》2016年第5期1602-1608,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(61374051);教育部春晖计划项目(Z2012061);吉林省教育厅科学研究项目(2014301)

摘　　要：针对下肢康复机器人训练任务规划和主动康复控制问题,提出了一种能够根据受损患肢病况进行步态轨迹规划的策略,并设计了可实现主动康复训练的控制算法。步态轨迹规划能够根据不同患肢按需自适应调整训练任务轨迹与正常步态轨迹的偏离程度,阻抗控制可以提高训练中受损患肢的主动参与力,自适应滑膜控制可以消除机器人结构模型的参数不确定性和训练过程中因肌肉痉挛等造成的外力干扰,并且对系统的非线性有一定的鲁棒作用。实验结果表明,该方法能够有效地解决不同受损患肢步态康复训练的自适应任务规划和主动康复训练过程中的柔顺运动控制,任务轨迹跟踪精度较高。Considering the training task planning and active rehabilitation control design for lower limb rehabilitation,agait trajectory planning strategy was proposed according to the damaged limb and the control algorithm to complete the active rehabilitation training.The gait trajectory planning method can adjust adaptively the deviation between the training trajectory and normal gait trajectory on the demand of different limbs.Impedance control can enhance the active forces of the damaged limb in training.Adaptive sliding mode control can eliminate the influence of model structure uncertainty and parameter uncertainty,which are caused by external forces due to muscle spasm in training,and is robust to nonlinearity of the system.Simulation results show that the proposed method is effective to the adaptive gait trajectory planning and active compliant control for different damaged limbs in gait rehabilitation training,and the tracking accuracy is higher.

关 键 词：自动控制技术 康复机器人 步态轨迹规划 阻抗控制 滑模控制 自适应控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]