一种手指康复外骨骼模糊阻抗控制算法研究  

A Fuzzy Impedance Control Algorithm for Finger Rehabilitation Exoskeleton

作　　者：李天琪 左可心 赵梦西 王扬威 Li Tianqi;Zuo Kexin;Zhao Mengxi;Wang Yangwei(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《机电工程技术》2024年第7期141-145,共5页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金项目(52075089);黑龙江省自然科学基金项目(LH2019E008)。

摘　　要：脑卒中患者病后会产生手指运动功能障碍,现以形状记忆合金丝(Shape Memory Alloy,SMA)为驱动器设计了一种手指康复外骨骼,为了解决形状记忆合金丝驱动手指康复外骨骼的力、位协同控制问题,提出了一种模糊阻抗控制算法,基于手指康复外骨骼的力学模型和驱动模型,采集合金丝末端的力,与期望力作差,由阻抗控制器给出位置修正量,通过电阻自感知反馈,修正位置从而实现力的控制,采用模糊控制器对阻抗控制器的参数进行控制。为了验证算法的可行性,搭建手指康复外骨骼实验平台,分别采用传统阻抗控制和模糊阻抗控制实验研究手指指尖力的跟踪特性,实验结果验证了模糊阻抗控制器相较阻抗控制,对力的跟踪响应更快,面对外界干扰,具有一定的鲁棒性,更适合手指康复外骨骼的柔顺性控制。After stroke,patients may experience finger movement dysfunction.A finger rehabilitation exoskeleton is designed using shape memory alloy(SMA) wire as the driver.In order to solve the problem of force and position coordinated control of the SMA wire driving the finger rehabilitation exoskeleton,a fuzzy impedance control algorithm is proposed.Based on the mechanical model and driving model of the finger rehabilitation exoskeleton,the force at the end of the alloy wire is collected.By subtracting from the expected force,the impedance controller provides a position correction amount,and through resistance self sensing feedback,the position is corrected to achieve force control.A fuzzy controller is used to control the parameters of the impedance controller.In order to verify the feasibility of the algorithm,a finger rehabilitation exoskeleton experimental platform is built,and traditional impedance control and fuzzy impedance control experiments are used to study the tracking characteristics of finger tip force.The experimental results verify that the fuzzy impedance controller has a faster force tracking response compared to impedance control,has certain robustness in the face of external interference,and is more suitable for the flexibility control of finger rehabilitation exoskeletons.

关 键 词：手指康复外骨骼 形状记忆合金丝 模糊阻抗控制 指尖力控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]