桌面式上肢康复机器人自适应柔顺性控制方法  

Adaptive compliance control method of desktop upper limb rehabilita⁃tion robot

作　　者：叶长龙[1] 彭晶鑫 于苏洋 姜春英 YE Changlong;PENG Jingxin;YU Suyang;JIANG Chunying(College of Artifical Intelligence,Shenyang Aerospace University,Shenyang 110136,China;College of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学人工智能学院,沈阳110136 [2]沈阳航空航天大学机电工程学院,沈阳110136

出　　处：《沈阳航空航天大学学报》2024年第5期62-71,共10页Journal of Shenyang Aerospace University

基　　金：辽宁省自然科学基金(项目编号:20180520033)。

摘　　要：以一种六自由度桌面式上肢康复机器人(desktop upper limb rehabilitation robot,DULRR)为研究对象,观察到传统的位置控制无法满足患者康复训练的需求,可能导致其在康复过程中二次受伤。针对这一问题,提出一种基于位置闭环的自适应柔顺性控制方法。首先,根据DULRR的运动学模型,构建基于模糊比例-积分-微分(proportional-integral-derivative,PID)的位置控制器。然后,利用阻抗模型将力信号转换为速度和位置信号的特点,提出了基于压力传感器的自适应柔顺性控制器,与所提出的模糊PID控制器相结合,形成了完整的DULRR被动康复训练控制方法。最后,通过仿真分析和样机实验的方式,验证了基于位置闭环的自适应柔顺性控制方法的优越性。实验结果表明:相较于传统的PID控制器,在DULRR系统下模糊PID响应时间更短、稳态误差更小,体现出了较好的轨迹跟踪能力。同时,该控制器表现出良好的柔顺性效果,满足了患者早期被动康复训练的需求,并避免了康复过程中的二次伤害。Taking a six degrees of freedom desktop upper limb rehabilitation robot(DULRR)as the research object,it was observed that traditional position control cannot meet the needs of patient rehabilitation training and may lead to secondary injuries during the rehabilitation process.To address this issue,a position closed-loop adaptive compliance control method was proposed.Firstly,based on the kinematic model of DULRR,a position controller based on fuzzy PID was constructed.Then,utilizing the impedance model’s ability to convert force signals into velocity and position signals,an adaptive compliance controller based on pressure sensors was proposed.Combined with the proposed fuzzy PID controller,a complete DULRR passive rehabilitation training control method was formed.Finally,the superiority of the adaptive compliance control method based on position closed-loop was verified through simulation analysis and prototype experiments.The experimental results show that compared with tradi‐tional PID controllers,fuzzy PID in the DULRR system has shorter response time and smaller steady state error,demonstrating better trajectory tracking ability.Meanwhile,the controller exhibits good flexi‐bility,meeting the needs of early passive rehabilitation training for patients and avoiding secondary in‐juries during the rehabilitation process.

关 键 词：康复机器人 全方位移动机器人 运动学模型 模糊PID 自适应柔顺控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]