摘要
为了提高下肢康复机器人的智能控制技术,提出了一种基于遗传模糊算法的下肢康复机器人康复训练控制方法;通过建立一个多输入单输出的模糊控制器,用一套模糊控制规则来控制下肢康复机器人对不同患者进行康复训练,并采用遗传模糊算法优化模糊规则和隶属度函数,增强了模糊控制系统适应不同人群康复的能力;考虑到下肢康复机器人的运动学模型,将比较符合实际情况的关节角度作为模糊规则的输出;通过仿真实验对该算法进行了验证,实验结果证明了方法的正确性。
In order to improve intelligent control technology of a lower limb rehabilitation robot, a new method of rehabilitation training control based on genetic--fuzzy algorithm was presented. A fuzzy logical controller was established and a lower limb rehabilitation robot was controlled by a set of fuzzy rules to complete rehabilitation training for different patients. Genetic algorithm was used to optimize fuzzy rules and membership functions so as to increase the ability of the fuzzy logical controller to respond to different patients. The kinematics model of a rehabilitation robot was taken into account and use the joint angle as the output of fuzzy rules. Experimental results in simulation prove the method was correct and feasible.
出处
《计算机测量与控制》
北大核心
2013年第11期3080-3082,3092,共4页
Computer Measurement &Control
基金
四川省重点实验室资助项(NJ2012-12)
关键词
模糊控制
遗传算法
下肢康复机器人
康复训练
Key words., fuzzy logical control
genetic algorithm
rehabilitation robot rehabilitation training
