摘要
针对因脑卒中等中枢神经系统疾病而导致运动障碍的患者,在康复训练初期,应用下肢康复机器人提供被动康复训练过程中的控制问题,提出了一种基于健康人体步态数据的下肢外骨骼机器人的鲁棒自适应PD控制。在误差扰动有界的情况下,设计鲁棒自适应PD控制策略,不仅能够使下肢外骨骼机器人快速跟踪通过动作捕捉系统获得的人体步态轨迹,并且能够避免初始输出力矩过大。通过MATLAB仿真验证了在保证全局稳定的情况下,所提方法具有良好的跟踪性能和抗干扰能力。最后,通过角度相似度函数客观评价在所提控制方法下人体运动的舒适性。
Aiming at the problem of controlling lower limb rehabilitation robot to provide passive rehabilitation training for patients with motor dysfunction caused by stroke and other central nervous system diseases in the early stage of rehabilitation training, a robust adaptive PD control method of lower limb exoskeleton robot based on gait data of healthy human is proposed. When the error disturbance is bounded, a robust adaptive PD control strategy for the lower limb exoskeleton robot system can not only enable the lower limb exoskeleton robot to quickly track the human gait trajectory obtained by the motion capture system, but also avoid excessive initial output torque. The MATLAB simulation proves that the proposed method has good tracking performance and anti-interference capability under the condition of global stability. Finally, the similarity function between human angle and robot angle is used to evaluate the comfort of human body movement under the proposed control method.
作者
王瑷珲
胡宁宁
喻俊
卢俊兰
葛祎霏
WANG Ai-hui;HU Ning-ning;YU Jun;LUJun-lan;GE Yi-fei(School of Electronics and Information,Zhongyuan University of Technology,Zhengzhou 450007,China;School of Zhongyuan-Petersburg Aviation,Zhongyuan University of Technology,Zhengzhou 450007,China)
出处
《控制工程》
CSCD
北大核心
2021年第9期1738-1746,共9页
Control Engineering of China
基金
国家自然科学基金资助项目(U1813201)
河南省科技攻关项目(202102210097,162102410056)
河南省青年骨干教师项目(2017GGJS117)。
