康复机器人上下肢协调主动康复运动控制系统设计  

Design of upper-and-lower-limb-coordinated active rehabilitation motion control system for rehabilitation robot

作　　者：黄军芬 郭乐意 曹莹瑜 薛龙[1] 张杰 宁浩强 HUANG Jun-fen;GUO Le-yi;CAO Ying-yu;XUE Long;ZHANG Jie;NING Hao-qiang(School of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China;Xiangyu Medical Co.,Ltd.,Anyang 456399,Henan Province,China)

机构地区：[1]北京石油化工学院机械工程学院,北京102617 [2]河南翔宇医疗设备股份有限公司,河南安阳456399

出　　处：《医疗卫生装备》2023年第5期15-20,共6页Chinese Medical Equipment Journal

基　　金：国家重点研发计划项目(2020YFC2007600)。

摘　　要：目的:基于外骨骼式康复机器人实验平台设计上下肢协调主动康复运动控制系统,以帮助神经损伤患者完成上下肢协调主动康复训练。方法:该系统采用模糊比例-积分-微分(proportional-integral-derivative,PID)控制实现肩关节、髋关节、膝关节的运动轨迹控制,通过导纳控制实现关节运动角度修正,并通过导纳控制耦合阈值控制实现主动抗阻训练。整个系统由上位机控制系统,运动控制器,肩关节、髋关节、膝关节的伺服驱动器组和伺服电动机组以及扭矩传感器等组成。采用该系统进行临床实验,以验证该系统的训练和康复效果。结果:临床实验结果表明,肩关节、髋关节和膝关节康复训练的实际运动轨迹与设定步态轨迹基本一致,各关节运动轨迹误差最大值小于8°,而且当患肢关节的交互扭矩下降到阻抗力矩阈值以下时,关节伺服电动机能够柔性调速;经过一段时间的上下肢协调主动康复训练后,患者的肌力、平衡能力以及自理能力得到明显的改善。结论:该系统具有较高的敏感度和较好的柔顺性,能够满足神经损伤患者在康复中后期对上下肢协调主动康复训练的需求。Objective To design an upper-and-lower-limb-coordinated active rehabilitation motion control system based on an exoskeleton rehabilitation robot experimental platform to facilitate the upper-and-lower-limb-coordinated active rehabilitation training of the nerve injury patients.Methods An upper-and-lower-limb-coordinated active rehabilitation motion control system was developed which regulated the motion trajectories of shoulder,hip and knee joints with a proportional-integral-derivative(PID)controller,corrected the joint motion angle with admittance control and realized active resistance training with admittance control combined with threshold control.The system developed was composed of a master computer control system and a servo drive set,a servo motor set and a torque sensor for each joint.Clinical trials were carried out to verify the effects of the system on the training and rehabilitation.Results Clinical trials showed that the shoulder,hip and knee joints moved roughly along the set trajectory with the maximum error of the joint motion trajectory lower than 8°,and the joint servo motor flexibly adjusted the speed when the interactive torque of the affected limb joints dropped below the resistance torque threshold;the muscle strength,balancing capacity and self-care ability of the patients were improved significantly after a period of upper-and-lower-limbs-coordinated active rehabilitation training.Conclusion The system designed has high sensitivity and flexibility,and can be used for the upper-and-lower-limb-coordinated active rehabilitation training of the nerve injury patients in the middle and late stages of rehabilitation.[Chinese Medical Equipment Journal,2023,44(5):15-20]

关 键 词：康复机器人 上下肢协调控制 康复训练 PID控制 导纳控制 

分 类 号：R318[医药卫生—生物医学工程] TP242.6[医药卫生—基础医学]