踝关节康复机器人主动训练柔顺控制研究

doi:10.16182/j.issn1004731x.joss.17-9082

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (1): 54-60.doi: 10.16182/j.issn1004731x.joss.17-9082

踝关节康复机器人主动训练柔顺控制研究

刘延斌^1,2, 庞翔元¹, 张彦斌¹, 郭冰菁¹, 韩建海¹

1. 河南科技大学机电工程学院,河南洛阳 471003;
2. 河南科技大学机械装备先进制造河南省协同创新中心,河南洛阳 471003

收稿日期:2017-11-15 修回日期:2018-03-20 发布日期:2020-01-17
作者简介:刘延斌(1971-),男,吉林德惠,博士,教授,研究方向为机器人控制;庞翔元(1991-),男,河南周口,硕士生,研究方向为精密隔振。
基金资助:
河南省科技攻关项目(162102210050)

Research on Active Training Compliance Control of Ankle Rehabilitation Robot

Liu Yanbin^1,2, Pang Xiangyuan¹, Zhang Yanbin¹, Guo Bingjing¹, Han Jianhai¹

1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;
2. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing, Henan Province, Henan University of Science and Technology, Luoyang 471003, China

Received:2017-11-15 Revised:2018-03-20 Published:2020-01-17

摘要/Abstract

摘要： 为保证踝关节康复机器人能为主动康复训练的患者准确提供任意性质的训练力,以气动肌肉冗余并联驱动踝关节康复机器人为对象,研究无误差力跟踪方法和主动训练柔顺控制策略。建立了踝关节康复机器人的动力学模型,基于阻抗控制理论研究了无误差力跟踪的轨迹规划方法,运用李亚谱诺夫稳定性理论提出了气动肌肉冗余并联驱动的柔顺控制策略,以助力和抗阻两种主动训练模式为例,进行了康复训练控制仿真,结果表明,所提出的力跟踪方法和柔顺控制策略不仅能确保主动训练的安全性,还能为训练提供任意而准确的助力和阻力。

关键词: 踝关节康复机器人, 主动康复训练, 力跟踪, 柔顺控制, 气动肌肉

Abstract: In order to ensure that ankle rehabilitation robot can accurately supply arbitrary characteristic training force for patient during active training, the pneumatic muscle redundant parallel driving ankle rehabilitation robot was taken as research objects, the zero error force tracking method and the compliance control strategy for active training were researched. The dynamics model of the ankle rehabilitation robot were set up, based on the impedance control theory, the trajectory planning method for the zero error force tracking was researched, and based on the Lyapunov’s stability theory, the pneumatic muscle redundant parallel driving compliance control strategy was proposed. Rehabilitation training control simulations for the two active training modes including assistance training and resistance training were carried out, and the results show that the robot with the force tracking method and the compliance control strategy can not only ensure training security, but also supply accurate assistance force and resistance force for active ankle rehabilitation training.

Key words: ankle rehabilitation robot, active rehabilitation training, force tracking, compliance control, pneumatic muscle

中图分类号:

TP242

刘延斌, 庞翔元, 张彦斌, 郭冰菁, 韩建海. 踝关节康复机器人主动训练柔顺控制研究[J]. 系统仿真学报, 2020, 32(1): 54-60.

Liu Yanbin, Pang Xiangyuan, Zhang Yanbin, Guo Bingjing, Han Jianhai. Research on Active Training Compliance Control of Ankle Rehabilitation Robot[J]. Journal of System Simulation, 2020, 32(1): 54-60.

参考文献

[1] Girone M J, Burdea G, Bouzit M, et al.A Stewart platform-based system for ankle telerehabilitation[J]. Autonomous Robots (S0929-5593), 2001, 10(2): 203-212.
[2] Xie S Q, Jamwal P K.An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot[J]. Expert Systems with Applications (S0957-4174), 2011, 38(7): 8128-8137.
[3] Bia Z M.Design of a spherical parallel kinematic machine for ankle rehabilitation[J]. Advanced Robotics (S0169-1864), 2013, 27(2): 121-132.
[4] Saglia J A, Tsagarakis N G, Dai J S, et al.Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT)[J]. IEEE/ASME Transactions on Mechatronics (S1083-4435), 2013, 18(6): 1799-1808.
[5] 印松. 踝关节康复机器人设计及人—机运动映射分析[J]. 中国机械工程, 2012, 23(21): 2552-2555.
Yin Song.Design and human-machine motion mapping analysis of an ankle rehabilitation robot[J]. China Mechanical Engineering, 2012, 23(21): 2552-2555.
[6] 禹润田, 方跃法, 郭盛. 绳驱动并联踝关节康复机构设计及运动性能分析[J]. 机器人, 2015, 37(1): 53-62.
Yu Runtian, Fang Yuefa, Guo Sheng.Design and kinematic performance analysis of a cable-driven parallel mechanism for ankle rehabilitation[J]. Robot, 2015, 37(1): 53-62.
[7] 韩亚丽, 于建铭, 宋爱国, 等. 并联式踝关节康复机器人研究[J]. 东南大学学报(自然科学版), 2015, 45(1): 45-50.
Han Yali, Yu Jianming, Song Aiguo, et al.Parallel robot mechanism for ankle rehabilitation. Journal of Southeast University (Natural Science Edition), 2015, 45(1): 45-50.
[8] 曾达幸, 胡志涛, 侯雨雷, 等. 一种新型并联式解耦踝关节康复机构及其优化[J]. 机械工程学报, 2015, 51(9): 1-9.
Zeng Daxing, Hu Zhitao, Hou Yulei, et al.Novel decoupled parallel mechanism for ankle rehabilitation and its optimization[J]. Journal of Mechanical Engineering, 2015, 51(9): 1-9.
[9] 李剑峰, 徐成辉, 陶春静, 等. 基于3-UPS/RRR的并联踝关节康复机构及其性能分析[J]. 自动化学报, 2016, 42(12): 1794-1807.
Li Jianfeng, Xu Chenghui, Tao Chunjing, et al.A parallel ankle rehabilitation mechanism and its performance analysis based on 3-UPS/RRR[J]. Acta Automatica Sinica, 2016, 42(12): 1794-1807.
[10] 刘颖超. 气动并联式踝关节康复机器人的研究[D]. 哈尔滨: 哈尔滨工业大学, 2014.
Liu Yingchao.Research on the pneumatic parallel ankle rehabilitation robot [D]. Harbin: Harbin Institute of Technology, 2014.
[11] Hogan N.Impedance control: An approach to manipulation: Part I-Theory, Part II-Implementation, Part III-Applications[J]. ASME Transactions Journal of Dynamic Systems and Measurement Control (S0022-0434), 1985, 107(1): 1-24.

[1]	谢鸥, 宋爱国, 朱其新. 机器鱼近壁面波动推进的体表压强特性研究[J]. 系统仿真学报, 2022, 34(4): 870-877.
[2]	王伟, 陈志梅, 王贞艳. 直角坐标机器人补偿滑模交叉耦合控制研究[J]. 系统仿真学报, 2021, 33(4): 867-874.
[3]	谢广明, 郑君政, 王晨. 水下仿生电场感知综述[J]. 系统仿真学报, 2020, 32(12): 2289-2305.
[4]	吴青青, 张奇志, 周亚丽. 变刚度双足机器人半被动行走控制研究[J]. 系统仿真学报, 2020, 32(8): 1588-1597.
[5]	郭冰菁, 韩建海, 李向攀, 闫琳. 步态康复机器人动力学李群李代数建模及仿真[J]. 系统仿真学报, 2020, 32(6): 1126-1135.
[6]	丁毓峰, 闵新普. 曲面零件抛光机器人的力/位混合控制方法[J]. 系统仿真学报, 2020, 32(5): 817-825.
[7]	尤波, 王明睿, 李智, 丁亮. 基于模型预测控制的轮式移动机器人轨迹规划[J]. 系统仿真学报, 2020, 32(4): 591-600.
[8]	吴迎年, 贺梦嘉, 项伟. 基于集成学习的人眼定位和头部状态检测研究[J]. 系统仿真学报, 2019, 31(11): 2366-2373.
[9]	赵萍, 雷新宇, 陈波芝, 杨矫云. 基于TI-A*的多机器人动态规划协调方法研究[J]. 系统仿真学报, 2019, 31(5): 925-935.
[10]	徐昱琳, 陈灵, 李昕, 杨傲雷, 龙嫣然, 朱春利, 刘彦伯, 金玉章. 远程巡诊服务机器人系统设计[J]. 系统仿真学报, 2018, 30(9): 3238-3248.
[11]	葛为民, 闫珂珂, 王肖锋, 刘增昌. 可重构机械臂的鲁棒模糊自适应补偿控制[J]. 系统仿真学报, 2018, 30(5): 1950-1956.
[12]	张铁, 龚文涛, 邹焱飚. 工业机器人实时NURBS插补的仿真和实验研究[J]. 系统仿真学报, 2018, 30(4): 1496-1504.
[13]	孙雷, 张丽爽, 周璐, 张雪波. 一种基于Bezier曲线的移动机器人轨迹规划新方法[J]. 系统仿真学报, 2018, 30(3): 962-968.
[14]	刘磊, 高岩, 吴越鹏. 刚体轮式机器人高速避障的生存控制方法[J]. 系统仿真学报, 2016, 28(12): 3001-3009.
[15]	许有熊, 周浩, 朱松青, 顾人杰. 宏微3-RPR并联机构建模及控制仿真研究[J]. 系统仿真学报, 2016, 28(11): 2670-2676.

踝关节康复机器人主动训练柔顺控制研究

Research on Active Training Compliance Control of Ankle Rehabilitation Robot

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价