基于下肢动力学检测分析的站起康复训练机器人控制

doi:10.13229/j.cnki.jdxbgxb201503022

吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (3): 837-843.doi: 10.13229/j.cnki.jdxbgxb201503022

基于下肢动力学检测分析的站起康复训练机器人控制

刘坤¹, 赵建琛¹, 曹恩国², 韩宣¹

1.吉林大学机械科学与工程学院,长春130022;
2.江南大学设计学院,江苏无锡 214122

收稿日期:2013-12-20 出版日期:2015-05-01 发布日期:2015-05-01
作者简介:刘坤(1981-),男,副教授,博士.研究方向:下肢智能康复训练设备.
基金资助:
国家自然科学青年基金项目(81101138); 博士后科学基金面上项目(2011M500601); 长春市社会发展科技计划项目(2012111-12SF39)

Control methods for standing-up rehabilitation robot based on estimation and analysis of lower limb kinetics

LIU Kun¹, ZHAO Jian-chen¹, CAO En-guo², HAN Xuan¹

1.College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China;
2.Jiangnan University, School of Design,Wuxi 214122, China

Received:2013-12-20 Online:2015-05-01 Published:2015-05-01

摘要/Abstract

摘要： 提出了人体站起轨迹控制方法(TCM)和阻尼控制方法(ICM)。采用这两种控制方法可以实现对机器人系统的控制,使患者能安全、有效地进行下肢站起运动康复训练。在患者站起过程中,下肢各肢段旋转角、身体运动轨迹、地面反力(GRF)、压力中心(COP)和绳索张力等参数可由康复机器人系统中的相应传感器实时检测得出,并通过实时运算得出髋、膝、踝各关节力矩,用于反馈控制。试验结果表明,该方法可以保证患者实现安全、舒适、有效的站起训练,适用于站起康复训练机器人控制系统。

关键词: 机械设计, 站起康复训练, 阻尼控制方法, 轨迹控制方法, 下肢动力学分析

Abstract: A Trajectory Control Method (TCM) and an Impedance Control Method (ICM) are presented. The methods are used to control the robot system so that patients can safely and effectively conduct lower extremity rehabilitation training for standing-up process. During standing-up process, the body segment rotational angles, movement trajectories, Ground Reaction Forces (GRF), Centre of Pressure (CoP) and rope tensile forces are measured by the robot sensor system; the joint moments of ankle, knee and hip are calculated in real-time control program for feed-back-control. Experiment results show that the methods are suitable for standing-up rehabilitation training robot control system, and ensure safe, comfortable and effective rehabilitation training of the lower limbs.

Key words: mechine design, stand up rehabilitation training, trajectory control method(TCM), impedance control method(ICM), lower limb kinetics analysis

中图分类号:

TP212.9

刘坤, 赵建琛, 曹恩国, 韩宣. 基于下肢动力学检测分析的站起康复训练机器人控制[J]. 吉林大学学报(工学版), 2015, 45(3): 837-843.

LIU Kun, ZHAO Jian-chen, CAO En-guo, HAN Xuan. Control methods for standing-up rehabilitation robot based on estimation and analysis of lower limb kinetics[J]. 吉林大学学报(工学版), 2015, 45(3): 837-843.

参考文献

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基于下肢动力学检测分析的站起康复训练机器人控制

Control methods for standing-up rehabilitation robot based on estimation and analysis of lower limb kinetics

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