基于阻抗控制的下肢康复外骨骼随动控制  

Follow-up Control of Exoskeleton in Lower Limb Rehabilitation Based on Impedance Control

作　　者：周伟杰 韩亚丽[1] 朱松青[1] 周一鸣 李沈炎 ZHOU Wei-jie;HAN Ya-li;ZHU Song-qing;ZHOU Yi-ming;LI Shen-yan(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,南京211167

出　　处：《科学技术与工程》2020年第5期1934-1939,共6页Science Technology and Engineering

基　　金：国家自然科学基金(51205182);江苏省研究生科研与实践创新计划项目(SJCX18_0585);江苏省六大人才高峰项目(JXQC-015)。

摘　　要：针对外骨骼单一的轨迹跟随控制难以满足患者主动康复训练需求的问题,将基于计算力矩的阻抗控制应用到下肢外骨骼中,分析控制系统的误差,设计一种自适应鲁棒补偿控制器。研制一种基于电机+套索传动的下肢外骨骼,降低外骨骼下肢的质量以提高轨迹跟踪效果。采用Lagrange法进行动力学分析。建立MATLAB和ADAMS虚拟样机的联合仿真平台,分析不同阻抗参数对人机交互力跟踪效果的影响。联合仿真实验结果表明,机械和控制系统具有良好的轨迹跟踪和人机交互力跟踪效果,验证了算法的有效性,满足患者进行主动康复训练的需求。Aiming at the problem that the single trajectory following control of exoskeleton is difficult to meet the needs of active rehabilitation training,the impedance control based on calculated torque was applied to the exoskeleton of lower limbs to analyze the error of control system.An adaptive robust compensation controller was designed.A lower limb exoskeleton based on motor+lasso transmission was developed to reduce the quality of the lower extremity limbs to improve the trajectory tracking effect.The kinetic analysis was then carried out using the Lagrange method.A joint simulation platform of MATLAB and ADAMS virtual prototype was established to analyze the influence of different impedance parameters on the tracking effect of human-computer interaction.The results of joint simulation experiments show that the mechanical and control systems have good trajectory tracking and human-computer interaction tracking effects,which verifies the effectiveness of the algorithm and meets the needs of patients for active rehabilitation training.

关 键 词：下肢外骨骼 动力学建模 阻抗控制 联合仿真 运动跟随 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]