步态康复训练机器人人机交互信息感知系统

针对步态康复训练机器人与患者实时交互的需求,研发了获取人机接触力信息的感知系统。利用拉格朗日法建立包含人体主动力的下肢外骨骼机器人动力学模型,并分析患者下肢运动动作意图,为步态康复训练交互控制提供判断依据。在步态康复训练机器人样机系统上进行了静态、动态测量实验及被动/主动康复训练测量实验,结果表明该感知系统能够满足人机接触力的检测精度要求,能在康复训练中获取人体运动意图,这为步态康复训练机器人的智能交互控制策略研究奠定了基础。

Human-robot interactive information sensing system for gait rehabilitation training robot

Aiming at the requirements of real-time interaction between the gait rehabilitation training robot and the patient，a sensing system for the contact force between them was developed. The lower limb exoskeleton robot dynamics model including the active force of human was established by Lagrange method，and the patient's lower limb movement intentions were analyzed to provide judgment criterions for the interactive control in gait rehabilitation training. The static and dynamic measurement experiments and the passive/active rehabilitation training measurement experiments were carried out on the gait rehabilitation training robot prototype system. The results showed that the sensing system could satisfy the detecting accuracy requirements for human-robot contact force, and acquire human movement intention in the rehabilitation training. The design of the human-robot interactive information sensing system lays a foundation for the research on the intelligent interactive control strategy of gait rehabilitation training robot.