上肢牵引康复训练轨迹规划跟踪控制  

Trajectory planning and tracking control for upper limb traction rehabilitation training

作　　者：罗盛国 李祥云 陆奇 陈鹏[4] 李康 LUO Shengguo;LI Xiangyun;LU Qi;CHEN Peng;LI Kang(College of Electrical Engineering,Sichuan University,Chengdu 610065,P.R.China;West China Biomedical Big Data Center,West China Hospital,Sichuan University,Chengdu 610041,P.R.China;College of Pittsburgh,Sichuan University,Chengdu 610065,P.R.China;College of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,P.R.China)

机构地区：[1]四川大学电气工程学院,成都610065 [2]四川大学华西医院生物医学大数据中心,成都610041 [3]四川大学匹兹堡学院,成都610065 [4]西南交通大学机械工程学院,成都610031

出　　处：《生物医学工程学杂志》2025年第2期318-325,共8页Journal of Biomedical Engineering

基　　金：国家自然科学基金项目(62103291);四川省科技计划项目(2024YFFK0033,2023YFH0037,2023ZHCG0075,2023YFG0057);四川大学华西医院医工交叉融合人才培养基地;四川大学华西医院1·3·5卓越学科项目(ZYYC21004,ZYJC21081)。

摘　　要：为解决末端牵引上肢康复训练中由交互空间限制和康复机器人奇异构型产生的安全问题,提出了一种康复训练轨迹规划跟踪控制方案。基于运动学建模和康复学理论求解人机安全交互空间,并根据康复医学中的作业疗法规划末端训练轨迹,通过指数自适应阻尼最小二乘法实现交互空间内康复机器人的奇异构型回避;然后,基于反步法设计针对上肢康复机器人的非线性控制器,通过径向基函数神经网络在线逼近机器人模型信息,实现无模型控制,由Lyapunov稳定性理论证明了控制器的稳定性。实验结果证明了所提出的奇异回避控制方案的有效性和优越性。To solve the safety problems caused by the restriction of interaction space and the singular configuration of rehabilitation robot in terminal traction upper limb rehabilitation training, a trajectory planning and tracking control scheme for rehabilitation training is proposed. The human-robot safe interaction space was obtained based on kinematics modeling and rehabilitation theory, and the training trajectory was planned based on the occupational therapy in rehabilitation medicine. The singular configuration of the rehabilitation robot in the interaction space was avoided by exponential adaptive damped least square method. Then, a nonlinear controller for the upper limb rehabilitation robot was designed based on the backstepping control method. Radial basis function neural network was used to approximate the robot model information online to achieve model-free control. The stability of the controller was proved by Lyapunov stability theory. Experimental results demonstrate the effectiveness and superiority of the proposed singular avoidance control scheme.

关 键 词：上肢康复 交互空间 奇异回避 反步控制 径向基函数神经网络 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]