摘要
镜像疗法是促进偏瘫患者上肢运动功能康复的有效疗法,结合镜像疗法的机器人可通过促进双侧运动易化患侧的运动通路。为此,研究上肢镜像康复机器人的控制策略。基于传统镜面治疗方法设计了上肢镜像康复机器人系统,提出了基于参考轨迹的镜像训练。同时提出了基于分段三阶Bezier插值的轨迹优化方法,优化机器人运动轨迹。考虑到患者患侧与机器人的交互需求,开发了由引导力场和约束力场组成的力场控制算法,协调患侧主动运动与镜像训练动作。开展镜像康复训练实验,验证了力场控制算法的良好性能。
Mirror therapy is an effective way to promote the rehabilitation of upper limb motor function in hemiplegic patients.Robots combined with mirror therapy can facilitate the motor pathway of the affected side by promoting bilateral movement.Therefore, the control strategy of the upper limb mirror rehabilitation robot is studied.Based on traditional mirror therapy, the upper limb robot system of mirror rehabilitationi is designed, and the mirror training based on a reference trajectory is proposed.A method based on piecewise third-order Bezier interpolation is proposed to optimize the trajectory of the robot.Considering the interaction requirements between the patient′s affected side and the robot, an algorithm on force field control is developed to coordinate the active movement of the affected side and the mirror training action.The algorithm is composed of guiding force and restraining force.Experiments about mirror rehabilitation training are carried out to verify the good performance of the algorithm on force field control.
作者
方红瑞
郭帅
费思先
FANG Hongrui;GUO Shuai;FEI Sixian
出处
《计量与测试技术》
2023年第1期58-62,共5页
Metrology & Measurement Technique
基金
国家重点研发计划(项目编号:2018YFC2001600)
国家自然科学基金(项目编号:61973205)。
关键词
上肢镜像康复机器人
镜像康复训练
力场规划
导纳控制
upper limb rehabilitation robot
mirror rehabilitation training
force field planning
admittance control
