上肢康复机器人实时安全控制

针对上肢辅助康复机器人临床使用中的安全性和平稳性问题,提出基于模糊逻辑的实时在线安全监测控制方法.机器人对患肢进行康复训练时,患肢状态对控制效果会产生影响;通过设计智能安全监控模糊控制器(SSFC)改善系统运动平稳性以及突发情况下的安全性.首先提取相关运动特征评估受训患肢状态稳定情况,安全监控模糊控制器智能实现正常扰动情况下的控制期望力调节以及突发情况下的紧急响应.其次通过基于位置的阻抗控制策略实现患肢与机器人末端的柔顺性.实验结果验证了该控制方法能够有效地实现康复机器人的安全性和平稳性.

Real-time Safety Control of Upper-limb Rehabilitation Robot

A real-time online safety supervisory-control strategy based on fuzzy logic is presented to improve the safety and stability for the upper-limb rehabilitation robot in clinic application.During the robot-aided impaired limb rehabilitation exercise,the impaired limb condition impacts the control performance.An intelligent safety supervisory fuzzy controller (SSFC) is designed to enhance the movement stability and safety in emergent condition.Firstly,the movement features are extracted to evaluate the stability of the impaired limb,subsequently the proposed safety supervisory fuzzy controller intelligently adapts the desired control force to a reasonable disturbance or responds to a sudden event in time.Secondly,a position-based impedance control strategy is adopted to achieve the compliance between the impaired limb and the robotic end-effector.Experimental results show the effectiveness of the proposed method for achieving the safety and stability of the rehabilitation robot.