基于无源性理论的上肢康复机器人人机交互鲁棒控制  

Interaction robust control of upper limb rehabilitation robot based on the passive theory

作　　者：刘克平[1,2] 孙瑞玲 李嘉聪 LIU Keping;SUN Ruiling;LI Jiacong(School of Electrical and Electronics Engineering,Changchun University of Technology,Changchun 130012,China;School of Electrical and Information Engineering,Jilin Engineering Normal University,Changchun 130052,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012 [2]吉林工程技术师范学院电气与信息工程学院,吉林长春130052

出　　处：《长春工业大学学报》2022年第4期405-412,共8页Journal of Changchun University of Technology

基　　金：国家自然科学基金项目(62173048)。

摘　　要：为保证上肢运动功能障碍患者康复训练的安全性和柔顺性,基于无源性理论,提出了不同训练模式下结合人体主动运动意图识别的人机交互鲁棒控制算法。考虑上肢运动功能障碍患者不同的运动能力,以及训练过程中人体上肢关节角度信号,将训练模式分为机器人主导模式、过渡模式以及保护模式。针对影响上肢康复机器人系统性能的不确定性因素,设计了人机交互鲁棒控制算法,通过与人机交互自适应控制算法进行对比实验研究,验证人机交互鲁棒控制算法的有效性。Based on the passive theory,a interaction robust controller with human active motion intention in different training modes is proposed to guarantee the safety and suppleness of training progress with upper extremity motor dysfunction.Depending on the ability of patients and angles error during training,the proposed controller includes three training modes:robot-dominant mode,transition mode,protected mode.Aiming at the uncertainties affecting the performance quality of the upper limb rehabilitation robot system,the robust controller of human-robot interaction is designed,and the effectiveness is verified by compare with the interaction adaptive controller.

关 键 词：上肢康复机器人 无源性 运动意图 人机交互 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]