膝关节康复机械腿的摆动控制研究  

Swing control of knee joint rehabilitation training mechanical leg

作　　者：周一鸣 韩亚丽[1] 吴枫 ZHOU Yi-ming;HAN Ya-li;WU Feng(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械学院,江苏南京211167

出　　处：《机电工程》2020年第5期565-571,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51205182);江苏省六大人才高峰项目(JXQC-015)。

摘　　要：针对膝关节康复外骨骼的摆动训练需求,对外骨骼机械腿的人机交互控制策略进行了研究,并对现有下肢康复外骨骼的控制策略进行了归纳,提出了一种基于导纳原理的等效惯量补偿控制方法。首先,根据人体膝关节康复训练具有周期重复性的特点,在等效惯量补偿控制方法中引入自适应频率振荡器,从而在穿戴者摆腿运动中获取了稳定的频率及相位运动模式信息;然后,对穿戴者的下肢关节力矩进行了估计,生成了一个同周期的助力力矩,且在相位上和穿戴者下肢的肌肉力矩趋于同步;最后,对膝关节外骨骼机械腿进行了补偿控制及先慢-后快-再变慢的运动控制实验研究。研究结果表明:外骨骼机械腿能模拟康复运动所需模式,并拥有良好的摆动效果。Aiming at the swing training requirement of knee rehabilitation exoskeleton, the human-computer interaction control strategy of external bone mechanical legs was studied and the control strategy of existing lower extremity rehabilitation exoskeleton was summarized, an equivalent inertia compensation control method based on admittance principle was proposed. Firstly, according to the periodic repeatability of human knee rehabilitation training, an adaptive frequency oscillator was introduced in the equivalent inertia compensation control method, and stable frequency and phase motion mode information in the wearer’s swing leg motion was obtained. Then, the wearer’s lower limb joint torque was estimated to generate a same period of assist torque, and the muscle torque of the wearer’s lower limbs were tended to be synchronized in phase. Finally, compensation control of knee exoskeleton mechanical legs was studied. Experimental on the motion control of the knee exoskeleton mechanical leg first slow-faster-re-slowing was studied.The results indicate that mechanical exoskeleton leg rehabilitation exercise can simulate the desired mode, and has a good kick their effect.

关 键 词：膝关节康复外骨骼 导纳模型 自适应频率振荡器 摆动控制 

分 类 号：TH781[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]