摘要
为提高患者的康复效果,满足患者在主动康复训练中与机器人的力交互柔顺性需求,改善力交互过程中柔顺性差的问题,结合现代控制技术、伺服电机控制技术、意图识别技术和康复理论,研究设计了一种上肢康复机器人力交互控制系统。通过多传感器意图检测方式及阈值法触发方案,实现交互过程对轻微的触发力矩的力补偿,满足患者在康复训练中的力交互柔顺性需求。在不同姿态下进行力交互实验,结果表明主动模式提供助力的正向触发力矩仅为0.46Nm,反向触发力矩为0.55Nm,证明在该策略下各关节对患者的运动意图监测良好,且能正确、适时地对患者运动提供力矩助力。
In order to improve the patient's rehabilitation effect and meet the patient's need for force interaction with the robot in rehabilitation training.This paper design a force interaction control system for upper limb rehabilitation robotbased on modern control technology,servo motor control technology,intention recognition technology and rehabilitation theory.Multi-sensor detection method and threshold method trigger scheme were used to realize force compensation of slight trigger torque in the process of force interaction.It meets the patient's personalized force interactive rehabilitation training in rehabilitation training.In this paper,an experiment of force interaction under different postures is designed.The experimental results show that the forward triggering torque of the active mode to provide power is the only 0.46Nm,and the reverse triggering torque is 0.55Nm.It is proved that under this strategy,each joint can monitor the movement intention of patients well,and can provide torque power to the movement of patients correctly and timely.
作者
聂志洋
孟巧玲
喻洪流
余杰
NIE Zhi-yang;MENG Qiao-ling;YU Hong-liu;YU Jie(Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《软件导刊》
2021年第7期124-128,共5页
Software Guide
基金
上海市科技创新行动计划生物医药领域科技支撑项目(20S31905400)。
关键词
上肢康复机器人
康复训练
运动控制
运动意图检测
力交互
人机交互
upper limb rehabilitation robots
function assistance
motion control
motion intention acquisition
haptic interaction
human-computer interaction
