下肢康复训练机器人跑步机速度协调控制

doi:10.16182/j.issn1004731x.joss.17-0203

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (6): 1111-1122.doi: 10.16182/j.issn1004731x.joss.17-0203

下肢康复训练机器人跑步机速度协调控制

李峰¹, 吴智政², 侯伟¹, 秦晓飞¹

1. 上海理工大学光电信息与计算机工程学院,上海 200093;
2. 上海大学机电工程与自动化学院,上海 200072

收稿日期:2017-05-15 修回日期:2017-07-16 出版日期:2019-06-08 发布日期:2019-12-12
作者简介:李峰(1983-),男,上海,博士,讲师,研究方向为康复医疗机器人系统的控制;吴智政(1972-),男,上海,博士,教授,研究方向为光机电系统集成与控制。
基金资助:
国家重点研发计划(2016YFF0101400)

Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot

Li Feng¹, Wu Zhizheng², Hou Wei¹, Qin Xiaofei¹

1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China

Received:2017-05-15 Revised:2017-07-16 Online:2019-06-08 Published:2019-12-12

摘要/Abstract

摘要： 在下肢康复机器人患者主动运动训练的过程中,为防止因肌肉痉挛等造成跑步机加速度过大对患者产生二次伤害,提出一种基于加速度抑制的跑步机速度协调控制方法。采用系统辨识的方法建立跑步机的数学模型。采用基于H₂优化设计方法和连续时间系统切换理论设计具有加速度抑制的跑步机速度PI控制器。仿真结果表明,该控制器既能对跑步机的加速度进行抑制,又能使跑步机的速度快速跟踪患者期望的步行速度,实现了患者下肢与跑步机之间速度的协调控制。

关键词: 下肢康复训练机器人, H₂优化, 系统切换, 加速度抑制, 速度协调控制

Abstract: In the course of active exercise training for patients with lower limb rehabilitation robots, a treadmill speed coordinated control method based on acceleration suppression is proposed to prevent secondary damage to patients caused by muscle spasms. The mathematical model of treadmill is established by means of system identification. Based on the H₂ optimal design method and the continuous time system switching theory, the treadmill speed PI controller with acceleration suppression is designed. The simulation results show that the controller can not only reduce the acceleration of the treadmill, but also keep the speed of the treadmill track the expected walking speed of the patient, and realize the coordinated control of the speed between the lower limb and the treadmill.

Key words: lower extremity rehabilitation training robot, H₂ optimization, system switching, acceleration suppression, speed coordinated control

中图分类号:

TH789

李峰, 吴智政, 侯伟, 秦晓飞. 下肢康复训练机器人跑步机速度协调控制[J]. 系统仿真学报, 2019, 31(6): 1111-1122.

Li Feng, Wu Zhizheng, Hou Wei, Qin Xiaofei. Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot[J]. Journal of System Simulation, 2019, 31(6): 1111-1122.

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下肢康复训练机器人跑步机速度协调控制

Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot

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