Adaptive patient-cooperative compliant control of lower limb rehabilitation robot  

作　　者：Lingling Chen Jjiabao Huang Yanglong Wang Shijie Guo Mengge Wang Xin Guo 

机构地区：[1]School of Artificial Intelligence,Hebei University of Technology,Tianjin 300400,China [2]Inteligent Rehabilitation Device and Detection Technology Engineering Research Centre of the Ministry of Education,Tianjin 300400,China [3]School of Mechanical Engineering,Hebei University of Technology,Tianjin 300400,China [4]School of Electrical Engineering,Hebei University of Technology,Tianjin 300400,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第2期42-49,共8页仿生智能与机器人（英文）

基　　金：approved by the Biomedical Ethics Committee of Hebei University of Technology(NO.HEBUThMEC2022005).

摘　　要：With the increase in the number of stroke patients,there is a growing demand for rehabilitation training.Robot-assisted training is expected to play a crucial role in meeting this demand.To ensure the safety and comfort of patients during rehabilitation training,it is important to have a patient-cooperative compliant control system for rehabilitation robots.In order to enhance the motion compliance of patients during rehabilitation training,a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed.A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory.At the high-level,an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot.The results of the patient-robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory,with a decrease of 76.45%in the dimensionless squared jerk(DSJ)and a decrease of 15.38%in the normalized root mean square deviation(NRMSD)when using the adaptive admittance controller.The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements,thereby ensuring the safety and comfort of patients during rehabilitation training.

关 键 词：Compliant control Lower limb rehabilitation robot(LLRR) Adaptive admittance controller Adaptive backstepping controller Human-robot interaction 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]