结合力位控制的多模式下肢康复系统设计  

Design of multimode lower limb rehabilitation system controlled by binding force position

作　　者：孙玉彬 吴全玉 李科岐 潘玲佼 陶为戈 刘晓杰 SUN Yubin;WU Quanyu;LI Keqi;PAN Lingjiao;TAO Weige;LIU Xiaojie(School of Electrical and Information Engineering,Jiangsu University of Technology,Changzhou 213001,China)

机构地区：[1]江苏理工学院电气信息工程学院,江苏常州213001

出　　处：《传感器与微系统》2024年第6期93-97,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金青年科学基金资助项目(62001196);江苏省重点研发计划资助项目(SBE2020648);常州市社会发展项目(CE20225045)。

摘　　要：针对采用生物信号控制的下肢康复机器人模型复杂难以布施,中小型下肢康复机器人人机交互功能匮乏等问题,设计了一种结合力位控制的多模式下肢康复系统。通过分布式足底和鞋底压力,对下肢动作进行划分。测试结果表明:提出的力位控制模型动作识别综合准确率为0.925,实现了较高的控制精度,同时为丰富系统功能,设计了智能交互界面系统,系统可实现远程康复与康复评估,符合当前下肢康复领域的发展需求。Aiming at the problems that the lower limb rehabilitation robot model controlled by biological signal is complex and difficult to control and the human-computer interaction function of small and medium-sized lower limb rehabilitation robot is insufficient,a multi-mode lower limb rehabilitation system combined force position control is designed.By distributed sole and sole pressure,the lower limb actions are divided.The test results show that action recognition accuracy of the proposed force position control model is 0.925,high control precision is achieved,at the same time,to enrich system function,the intelligent interactive interface system is designed,the system can realize remote rehabilitation and rehabilitation evaluation,which meets the demand of current developments in the field of lower limb rehabilitation.

关 键 词：人机交互 力位控制 远程康复 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]