腕功能康复机器人按需辅助控制策略研究  

Research on assist-as-needed control strategy of wrist function-rehabilitation robot

作　　者：王嘉津 左国坤[2] 张佳楫 施长城[2] 宋涛[2] 郭帅 WANG Jiajin;ZUO Guokun;ZHANG Jiaji;SHI Changcheng;SONG Tao;GUO Shuai(Department of Mechanical Automation Engineering,School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,P.R.China;Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Science,Ningbo,Zhejiang 315201,P.R.China)

机构地区：[1]上海大学机电工程与自动化学院机械自动化工程系,上海200444 [2]中国科学院宁波材料技术与工程研究所,浙江宁波315201

出　　处：《生物医学工程学杂志》2020年第1期129-135,共7页Journal of Biomedical Engineering

基　　金：国家自然科学基金资助项目（61973205）;浙江省重点研发计划项目（2019C03090）;宁波市自然科学基金（2018A610071）

摘　　要：在康复机器人辅助脑卒中患者进行康复训练时,为激发患者的主动参与意识,康复机器人应按照患者康复需求提供其所需的辅助力矩。本文针对腕功能康复机器人提出一种按需辅助控制策略:首先制定能力评估规则,并依据该规则评估患者能力;然后设计控制器,控制器可基于评估结果求解出患者完成康复训练任务所需的辅助力矩,并下发指令至电机;最后控制电机输出指令值,辅助患者完成康复训练任务。将该控制策略应用于腕功能康复机器人,不仅实现了按需辅助的训练模式,而且能够避免辅助力矩激增,同时康复治疗师可在线调节能力评估规则中的多个参数,为不同康复状态的患者定制任务难度。本文所提方法不依赖于力学传感器信息,降低了开发成本且易于实现,具有一定的工程应用价值。In order to stimulate the patients'active participation in the process of robot-assisted rehabilitation training of stroke patients,the rehabilitation robots should provide assistant torque to patients according to their rehabilitation needs.This paper proposed an assist-as-needed control strategy for wrist rehabilitation robots.Firstly,the ability evaluation rules were formulated and the patient's ability was evaluated according to the rules.Then the controller was designed.Based on the evaluation results,the controller can calculate the assistant torque needed by the patient to complete the rehabilitation training task and send commands to motor.Finally,the motor is controlled to output the commanded value,which assists the patient to complete the rehabilitation training task.The control strategy was implemented to the wrist function rehabilitation robot,which could achieve the training effect of assist-as-needed and could avoid the surge of assistance torque.In addition,therapists can adjust multiple parameters in the ability evaluation rules online to customize the difficulty of tasks for patients with different rehabilitation status.The method proposed in this paper does not rely on the information from force sensor,which reduces development costs and is easy to implement.

关 键 词：腕功能康复 机器人 按需辅助 阻抗控制 最小急动轨迹 

分 类 号：R496[医药卫生—康复医学] TP242[医药卫生—临床医学]