卧式下肢康复机器人主动训练控制策略  

Active Training Control Strategy of Horizontal Lower Limb Rehabilitation Robot

作　　者：蒲明辉[1,2] 尹飞 赵倩倩 梁旭斌 陈琳[1,2] 潘海鸿[1,2] PU Minghui;YIN Fei;ZHAO Qianqian;LIANG Xubin;CHEN Lin;PAN Haihong(School of Mechanical Engineering,Guangxi University,Nanning 530004,China;Guangxi Key Laboratory of Manufacturing Systems and Advanced Manufacturing Technology,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]广西制造系统与先进制造技术重点实验室,南宁530004

出　　处：《机械设计与研究》2021年第1期66-70,共5页Machine Design And Research

基　　金：广西创新驱动发展专项(桂科AA18118002,桂科AA17204017)资助项目;广西重点研发计划项目(桂科AB16380237);南宁市重点研发计划项目(20181018-1);南宁市重点研发计划项目(20181018-3)。

摘　　要：在卧式下肢康复机器人主动训练过程中,患者对机器人施加的力是不断变化的,如果机器人不能很好的顺从患者的运动意图(即患者施加力的大小)进行及时调整,会给患者带来极大的不舒适感,严重时可能造成二次伤害。针对此问题,提出了一种基于阻抗控制的卧式下肢康复机器人主动训练控制策略,内环采用计算力矩法进行位置控制,外环采用基于位置的阻抗控制,并通过建立ADAMS和MATLAB/Simulink联合仿真模型进行验证,仿真结果证明了所设计主动训练控制策略具有很好的末端轨迹跟踪能力和系统柔顺性。During the active training process of the horizontal lower limb rehabilitation robot,the force applied by the patient to the robot is constantly changingIf the robot does not comply with the patient's motion intention(that is,the amount of force applied by the patient)and adjust it in time,it will cause great discomfort to the patient and may cause secondary injury in severe casesAiming at this problem,an active training control strategy for horizontal lower limb rehabilitation robot based on impedance control is proposedThe inner loop adopts the calculated moment method for position control,and the outer loop adopts the position-based impedance controlBy establishing ADAMS and MATLAB/Simulink,the simulation model is verifiedThe simulation results show that the designed active training control strategy has good terminal trajectory tracking ability and system flexibility.

关 键 词：下肢康复机器人 主动训练模式 阻抗控制 控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]