基于GALIL控制器的踝康复机器人控制系统

介绍了基于GALIL运动控制器的踝关节康复机器人的控制系统。该踝关节康复机器人引入生物融合理念,基于4-UP(Pe)S/PS并联机构,采用PC+运动控制器相对独立运行的并行控制模式,实现踝关节复合康复运动。用户利用PC机实现康复机器人康复运动轨迹的规划,康复运动控制程序的自动编制和运动控制器程序的下载,通过操作面板控制运动控制器相对PC独立地执行程序。这种并行控制模式能够在满足康复运动相对复杂的空间康复轨迹需要的前提下,保证踝关节康复机器人系统的反应速度。该系统成功地用于踝关节康复机器人系统,取得了很好的康复效果,为PC+运动控制器模式的康复系统设计提供了范例。     

并联3-URS踝关节康复机器人的机构与运动学研究

为了帮助患者进行踝关节康复训练,减轻治疗师工作强度,在分类分析现有的各类型踝关节康复机器人的基础上,设计了一种六自由度并联3-URS踝关节康复机器人。从人体生理结构及康复训练需求出发,设计、优化了康复机器人结构,加工制造了实物样机模型;采用闭环矢量的方法建立了并联机器人运动学模型,结合Rosenbrock-Banana优化函数,将正逆运动学数值求解问题转换为优化问题。以背屈训练轨迹作为数值算例,求解精度可达10-10~10-7mm;结合虚拟样机技术,验证了该并联机器人运动学优化求解方法的可靠性,适用于3-URS并联踝关节康复机器人。     

并联2-RRR/UPRR 踝关节康复机器人机构及其运动学

在分析现有踝关节康复机器人机构特征的基础上,提出了一种具有远程转动中心的2-RRR/UPRR 并联 踝关节康复机构．该机构可以实现踝关节康复运动所需的三自由度转动,即内翻／外翻,背屈／跖屈,外展／内收运 动．采用关节轴线的运动副螺旋矢量表示法分析了该机构在整个工作空间内任意位姿都可以实现3 维转动的机构学 原理．计算了其自由度,并讨论了选取与定平台相连接的3 个转动副作为输入的合理性．应用球面几何方法给出该 机构的位置反解,同时推导出机构位置正解表达式,并给出了数值算例,验证了其工作空间满足踝关节康复运动的 要求．     

Trajectory planning and control of a Stewart platform-based end-effector with passive compliance for part assembly

This paper presents the kinematic analysis and trajectory planning for a six-degrees-of-freedom end-effector whose design is based on the Stewart platform mechanism. The end-effector is composed of two platforms and six linear actuators driven by stepper motors. A spring-loaded platform is used to provide passive compliance to the end-effector during a part assembly. A closed-form solution is derived for the inverse kinematic transformation and a computationally effective numerical solution is obtained for the forward kinematic transformation using the Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion are developed. Experimental results of tracking various test paths are presented.     

带有振动触觉反馈的上肢康复系统

康复机器人在脑卒中患者的术后恢复治疗中起着重要作用。为了提高患者在康复训练过程中的主动性和专注度,提出了一种带有振动反馈的上肢康复训练系统。该系统利用多传感器获取人的上肢位姿信息,实现与虚拟场景的实时交互,并通过实时多层级振动反馈引导人的康复动作。通过心理物理学实验评估受试者对不同振动强度的感受,得出了人体感受区分明显的3个振动强度等级。构建了视触觉有效性实验,受试者需要在虚拟场景中完成特定的康复动作,实验结果表明,相较于无触觉反馈,受试者在振动触觉反馈的作用下可以更稳定高效地完成康复任务。     

一种提高基于线绳的力反馈设备显示阻抗范围的方法

提出一种通过动态调整线绳预紧力提高基于线绳的力反馈设备显示阻抗范围的方法．介绍了基于线绳的力反馈设备的基本结构, 从能量耗散的角度分析了线绳张力对设备显示高刚度虚拟物体时稳定性的影响,并分析线绳预紧力与力觉交互透明性之间的关系． 为同时满足稳定性和透明性的要求,根据设备操作末端与虚拟物体的接触状态,对线绳的预紧力进行动态调整．实验结果表明, 该方法能够在保持设备透明性的同时,有效提高其稳定性,从而提高设备显示的阻抗范围．     

绳驱动并联踝关节康复机构设计及运动性能分析

交通事故和中风后的神经损伤会导致下肢伤残,使得患者无法完成抬脚之类的简单动作.为了帮助患者恢复运动能力,提出一种适用于脚踝康复的3自由度绳驱动并联机构.首先介绍了绳驱动踝关节康复机构的结构.其次利用牛顿-拉夫逊迭代法和封闭矢量环法计算了位姿正反解,建立了速度雅可比矩阵.通过对驱动绳索的张力进行分析,优化了张力分布并求解了机构的工作空间.最后,基于雅可比矩阵分析了机构的运动性能.结果表明在规定的工作空间内机构无奇异点,有良好的运动灵巧性和刚度性能.而且设计的等效球面副和动平台使得机构的转动中心较好地与踝关节的转动中心相重合,相比现存的踝关节康复机器人更具优势.综上,设计的机构适合脚踝康复训练.     

支持力反馈的肝脏外科虚拟手术仿真系统

介绍一个用于外科手术的肝脏虚拟手术仿真系统。该系统基于SensAble公司的PHANTOM力反馈设备,利用虚拟现实技术实现肝脏手术过程中有关肝脏及其内部组织的多种手术操作,提供真实的视觉反馈和力反馈,具有良好的实时性。为虚拟现实技术在手术仿真中的实用化探索出一条可行的道路。     

一种基于物理意义的快速力反馈形变模型及实时力觉响应算法

虚拟物体在受力作用时的形变建模是虚拟环境中力/触觉人机交互的关键.文中提出了一种新的基于物理意义的形变建模方法,不仅计算速度快,满足力反馈的实时性要求,而且能够同时保证接触力和形变的计算具有较高的精度,适用于具有较大变形量的柔性物体的力反馈计算,满足精细作业对虚拟现实系统的要求.     

用于触摸屏交互的可穿戴指端力反馈系统设计

力触觉再现技术在增强用户与触摸屏交互的真实感和沉浸感方面发挥着越来越重要的作用,设计了一种面向触摸屏图像信息感知的可穿戴指端力反馈装置。设计基于线绳牵引驱动的指端力反馈机构,将装置分为驱动和可穿戴部分,使其具备小巧、轻便、易佩戴的特点。设计测控系统,实现了输出反馈力的检测和控制。研究图像信息提取和力触觉建模算法,获取图像中物体的三维特征信息,配合力反馈装置和测控系统实现图像纹理高度、外形轮廓信息再现反馈。实验结果表明,该装置最大可以提供5.3 N的反馈力,能够帮助用户感知触摸屏中图像的高度和形状信息。     

A Simple Robotic System for Neurorehabilitation

In the recent past, several researchers have shown that important variables in relearning motor skills and in changing the underlying neural architecture after stroke are the quantity, duration, content, and intensity of training sessions. Unfortunately, when traditional therapy is provided in a hospital or rehabilitation center, the patient is usually seen for few hours a week. Robot-mediated therapies could improve this situation but even if interesting results have been achieved by several groups, the use of robot-mediated therapy has not become very common in clinical practice. This is due to many different reasons (e.g., the “technophobia” of some clinicians, the need for more extensive clinical trials) but one of the more important is the cost and the complexity of these devices which make them difficult to be purchased and used in all the clinical centers. The aim of this work was to verify the possibility of improving motor recovery of hemiparetic subjects by using a simple mechatronic system. To achieve this goal, our system (named “MEchatronic system for MOtor recovery after Stroke” (MEMOS)) has been designed with the aim of using mainly “off-the-shelf products” with only few parts simply manufactured with standard technology, when commercial parts were not available. Moreover, the prototype has been developed taking into account the requirements related to the clinical applicability such as robustness and safety. The MEMOSsystem has been used during clinical trials with subjects affected by chronic hemiparesis (<6 months from the cerebrovascular accident). The results obtained during these experiments seem to showthat notwithstanding the simple mechatronic structure characterizing theMEMOSsystem, it is able to help chronic hemiparetics to reduce their level of impairment. Further clinical experiments with acute and chronic subjects will be carried out in order to confirm these preliminary findings. Moreover, experiments for tele-rehabilitation of patients will be also carried out. Silvestro Micera was born in Taranto, Italy, on August 31, 1972. He received the University degree (Laurea) in electrical engineering from the University of Pisa, Pisa, Italy, in 1996, and the Ph.D. degree in biomedical engineering from the Scuola Superiore Sant'Anna, Pisa, Italy, in 2000. From 1998 to 2001, he was the Project Manager of the EU GRIP Project (ESPRIT LTR Project 26322, “An integrated system for the neuroelectrIic control of grasp in disabled persons”). During 1999, he was a Visiting Researcher at the Center for Sensory-Motor Interaction, Aalborg University. Since May 2000, he has been an Assistant Professor of Biomechanical Engineering at the Scuola Superiore Sant'Anna. He is currently involved in several projects on neuro-robotics and rehabilitation engineering. His research interests include the development of neuro-robotic systems (interfacing the central and peripheral nervous system with robotic artefacts) and the development of mechatronic and robotic systems for function restoration in disabled persons. Dr. Micera is an Associate Editor of the IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING and member of the IEEE Engineering in Medicine and Biology and Robotics and Automation Societies. M. Chiara Carrozza received the Laurea degree in physics from the University of Pisa, Pisa, Italy, in 1990. Since 2001, she has been an Associate Professor of biomedical robotics at the Scuola Superiore Sant'Anna, Pisa, Italy. She is the co-cordinator of the Advanced Robotics Technology and Systems Laboratory where she is responsible for some national and international projects in the fields of biorobotics. Her research interests are in the fields of biorobotics (artificial hands, upper limb exoskeletons), rehabilitation engineering (neurorehabilitation, domotic, and robotic aids), and biomedical microengineering (microsensors, tactile sensors). She is an author of several scientific papers and international patents. Eugenio Guglielmelli received the Laurea degree and the PhD in electronics engineering from the University of Pisa, Italy, in 1991 and in 1995, respectively. He is currently Associate Professor of Bioengineering at Campus Bio-Medico University in Rome, Italy, where he teaches the courses of Bio-Mechatronics and of Rehabilitation Bioengineering, and where he also recently co-founded the new Research Laboratory of Biomedical Robotics & Electro-Magnetic Compatibility. He has been working in the field of biomedical robotics over the last fifteen years at Scuola Superiore Sant'Anna where he also served from 2002 to 2004 as the Head of the Advanced Robotics Technology & Systems Laboratory (ARTS Lab), founded by prof. Paolo Dario in 1991. His main current research interests are in the fields of novel theoretical and experimental approaches to human-centered robotics and to biomporphic control of mechatronic systems, and in their application to robot-mediated motor therapy, assistive robotics, neuro-robotics and neuro-developmental engineering. He serves in the Editorial Board of the International Journal on Applied Bionics and Biomechanics. He has been Guest Co-Editor of the Special Issue on Rehabilitation Robotics of the International Journal ‘Autonomous Robots’. He is member of the IEEE Robotics & Automation Society, of the IEEE Engineering in Medicine & Biology Society, of the Society for Neuroscience, and of the Association for the Advancement of Assistive Technology in Europe (AAATE). He served (2002–03) as the Secretary of the IEEE Robotics & Automation Society (RAS) and he is currently Co-chair of the RAS Technical Committee on Rehabilitation Robotics. He serves in the Programme Committees of several International Conferences, such as ICRA, IROS, ICAR, AIM, BIOROB and others. He was/is a member of the Organizing Committees of ICAR2003, IROS2004, IFAC/SYROCO2006 and ICRA2007. Giovanni Cappiello received the M.E. degree from the University of Pisa, Pisa, Italy. He is currently working towards the Ph.D. degree in robotics at the ARTS Lab of the Scuola Superiore Sant'Anna Pisa. He worked on the RTR IV Prosthetic Hand Project. Among his research interests are rehabilitation technologies, biomedical and surgical devices, osseointegration, and biomimetic artificial sensors. He is involved in the design of antropomorphic hands and arm and in the exploitation of compliant joints. Franco Zaccone was born in Policoro, Italy. He received the University degree (Laurea) in electrical engineering from the University of Pisa, Pisa, Italy, in 2000. Since June 2000, he has been a Research Assistant at the Advanced Robotics Technologies and Systems Laboratory, Scuola Superiore Sant'Anna, Pisa. His research interests include the design of hardware systems for rehabilitation engineering and motion analysis. Cinzia Freschi was born in Caserta, Italy, on December 25, 1969. She received the University degree (Laurea) in computer engineering from the University of Pisa, Pisa, Italy, in 1998. Since 1998, she has been research assistant at the Advanced Robotics Technology and Systems Laboratory (ARTSLAB), Scuola Superiore Sant'Anna. Her research interests are in the filed of rehabilitation engineering and neuro-robotics. Roberto Colombo received the Dr. Eng. degree in electrical engineering from the Politecnico of Milano, Milan, Italy, in 1980. Since 1981, he has been a Research Engineer in the Bioengineering Department of the “Salvatore Maugeri” Foundation, IRCCS, Rehabilitation Institute, Veruno, Italy. From 1998 to 2001, he was a Partner of the European Community project “Prevention of muscular disorders in operation of computer input devices (PROCID).” From 2001 to 2004, he was the Coordinator of the project “Tecniche robotizzate per la valutazione ed il trattamento riabilitativo delle disabilitá motorie dell'arto superiore,” 2001-175, funded by the Italian Ministry of Health. His research interests include robot-aided neurorehabilitation, muscle tone and spasticity evaluation, muscle force and fatigue assessment, speech production mechanisms study, cardiovascular control assessment by spectral analysis of heart rate variability signals, and respiratory mechanics assessment. He has taught several national courses in the field of neurorehabilitation. He is the author of over 20 papers and the co-editor of one book on the subject of speech production mechanisms. Alessandra Mazzone received the degree (Diploma) in computer science, from the ITIS “Leonardo da Vinci,” Borgomanero, Italy, in 1988. Since 1989, she has been a Programmer at the Bioengineering Department, the Fondazione Salvatore Maugeri, Rehabilitation Institute of Veruno (NO), Italy. Her research interests include robot-aided neurorehabilitation, cardiovascular control assessment by spectral analysis of heart rate variability signals, and respiratory mechanics assessment. Carmen Delconte received the Diploma in neurophysiology techniques from the University of Pavia, Pavia, Italy, in 1989. She is currently with the Clinical Neurophysiology Unit, Scientific Institute of Veruno “Salvatore Maugeri” Foundation, Rehabilitation Institute, Veruno, Italy. Her research concerns the quantification of muscle tone, emg-biomechanical studies, and the robotic rehabilitation of upper limb in cerebrovascular diseases. She has been published in the clinical and electrophisiological field of neuromuscular diseases and on the topic of stroke patients rehabilitation. Her current research is focused on the evaluation and treatment of upper limbs disorders like spasticity and paresis. Dr. Delconte is a member of the Italian Neurophysiology Technician Society. Fabrizio Pisano received the M.D. degree from the University of Milan, Milan, Italy, in 1981. In 1986, he completed his training as resident in neurology and became Neurologist at the same University He was a teacher in “Electromyography” from 1991 to 1997 at the School of Physical Medicine and Rehabilitation, the University of Turin, Torino, Italy. He has taught several national and international electromyographic courses on hand neuromotor rehabilitation, occupational pathology, rehabilitation therapy, muscle fatigue, posture and movement, clinical neurophysiology, and EMG Culture. He was a Scientific Project co-leader of a telethon program (1994–1996); speech motor control in ALS; a search for an early marker of disease. He was the Project Leader of “Quantitative Analysis of Spastic Hypertonia” by the Istituto Superiore della Sanitá during 1998–1999. He was the Clinical Scientific Leader of the INAIL project “International clinical survey over functional electrical stimulation.” He was the Scientific Project Leader of the Clinical Neurophysiology Unit of the project “Tecniche robotizzate per la valutazione ed il trattamento riabilitativo delle disabilitá motorie dell'arto superiore,” 2001-175, funded by the Italian Ministry of Health. He is currently a Neurologist and the Head of the Clinical Neurophysiology Unit, ”Salvatore Maugeri” Foundation, IRCCS, Rehabilitation Institute, Veruno, Italy. He has been published in the clinical and electrophysiological field of neuromuscular diseases and on the topic of stroke patients rehabilitation. His current research interests are in evaluation and treatment of upper limb disorders like spasticity and paresis. Dr. Pisano is a Member of the Italian Neurological Society and the Italian Clinical Neurophysiology Society. Giuseppe Minuco received the Dr. Eng. degree in mechanical engineering from the Politecnico Milano, Milan, Italy, in 1972, and a postgraduate degree in biomedical engineering from the Faculty of Medicine, Bologna, Italy, in 1975. He is currently Head of the Bioengineering Department, “Salvatore Maugeri” Foundation, IRCCS, Pavia, Italy. He is Chair of the Technical Scientific Committee of “CBIM” (Medical Informatics and Bioengineering Consortium) Pavia, Italy. He is Member of the Editorial Board of The Monaldi Archives for Chest Disease and of Giornale Italiano di Medicina del Lavoro ed Ergonomia. Has taught several courses in healthcare management. His main interests are in the fields of rehabilitation engineering, clinical engineering, medical informatics, and telemedicine. Paolo Dario received the Dr. Eng. degree in mechanical engineering from the University of Pisa, Pisa, Italy, in 1977. He is currently a Professor of Biomedical Robotics at the Scuola Superiore Sant'Anna, Pisa, Italy. He also teaches courses at the School of Engineering of the University of Pisa, and at the Campus Biomedico University, Rome, Italy. He has been a Visiting Professor at Brown University, Providence, RI, at the Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland, and at Waseda University, Tokyo, Japan. He was the founder of the Advanced Robotics Technologies and Systems (ARTS) Laboratory and is currently the co-cordinator of the Center for Research in Microengineering (CRIM) Laboratory of the Scuola Superiore Sant'Anna, where he supervises a team of about 70 researchers and Ph.D. students. He is also the Director of the Polo Sant'Anna Valdera and a Vice-Director of the Scuola Superiore Sant'Anna. His main research interests are in the fields of medical robotics, mechatronics, and micro/nanoengineering, and specifically in sensors and actuators for the above applications. He is the coordinator of many national and European projects, the editor of two books on the subject of robotics, and the author of more than 200 scientific papers (75 in ISI journals). He is Editor-in-Chief, Associate Editor, and Member of the Editorial Board of many international journals. Prof. Dario served as President of the IEEE Robotics and Automation Society during 2002–2003, and he is currently Co-Chair of the Technical Committees on Bio-robotics and of Robo-ethics of the same society. He is a Fellow of the European Society on Medical and Biological Engineering, and a recipient of many honors and awards, such as the Joseph Engelberger Award. He is also a Member of the Board of the International Foundation of Robotics Research (IFRR).     

一种基于电流变液体的力反馈装置

针对虚拟现实和遥操作机器人技术的需要,提出了一种基于电流变液体力反馈装置的设计方法.该装置的核心材料是一种新型智能材料电流变液体,在施加电场的情况下,其流变特性如粘度会发生剧烈的变化.着重叙述了装置的实现原理、结构模型,分析了装置各参数对反馈力的影响,设计出装置结构并在此基础上对装置进行了力学实验,实验结果证明了文章所提出的力反馈实现方法的有效性.     

基于增扩虚拟现实的空间机器人遥控系统及其仿真􀀁

虚拟现实技术作为一种全新的人机接口技术,它在空间机器人中的应用日益受到人们的普遍关注．本文研究了一种基于增扩虚拟现实的空间机器人遥控及其仿真,首先讨论了该系统的构成,其次重点介绍了它所涉及的关键技术及其主要研究内容,最后进行了仿真研究．     

移动机器人THMR-V遥控系统的设计与实现

介绍了基于视觉的移动机器人THMR-V遥控系统的设计及实施。重点介绍了指挥站测控与监控系统、方向盘力反馈技术、无缝隙切换技术,以及数据与图象无线通信系统。     

基于力反馈的虚拟拆卸系统关键技术研究

在虚拟拆装系统的研制过程中,一般要求设计的系统具有尽可能好的“沉 浸感”,除了给用户良好的视觉感受外,应尽可能多的增加其它感官感受,例如触觉等。因 此,对于力/触觉反馈的研究就变得尤为重要。该文在对PHANTOM Omni 力反馈装置工作 原理分析的基础上,运用VC++与OSG 相结合,实现了虚拟物体的拾取和交互式移动,针 对典型机械装备,开发了基于力反馈的交互式虚拟拆卸系统。使维修人员对机械产品和维修 场景产生最直接的感受与真实的操作体验,提高维修人员的维修质量和效率,降低训练成本。     

大射电望远镜精调Stewart平台非线性PID控制

为了实现大射电望远镜馈源指向跟踪系统精调Stewart平台的高精度轨迹跟踪,针对Stewart平台的系统特点,基于机器人关节控制策略,设计了一种非线性PID的Stewart关节调节器。该非线性PID算法构造了增益参数关于误差信号的非线性拟合函数,算法能够同时保证响应速度快、超调量小以及自适应能力强的系统特性。通过建立平台的数学模型,进行了典型信号输出响应数值仿真。仿真结果验证了关节空间控制策略以及非线性PID控制方法的可行性和有效性。     

用于实时柔性触觉再现的平行菱形链连接模型

精度高且实时性好的柔性触觉变形模型是实现触觉再现系统的关键。提出了一种新的基于物理意义的平行菱形链连接触觉变形模型,系统中各个链结构单元相对位移的叠加对外等效为物体表面的变形,与之相连的弹簧弹性力的合力等效为物体表面的接触力。使用Delta 6-DOF手控器,建立了触觉再现实验系统,对柔性体的接触变形和实时虚拟触觉反馈进行仿真, 实验结果表明所提出的模型不仅计算简单,而且能够保证触觉接触力和形变计算具有较高精度,满足虚拟现实系统对精细作业和实时性的要求。     

A patient-specific muscle force estimation model for the potential use of human-inspired swing-assist rehabilitation robots

This study presents a patient-specific muscle force estimation model (PMFE) for the potential use with swing-assist rehabilitation robots. This model employs a static optimization algorithm based on a computer-based musculoskeletal model, which provides patient-specific anthropometric parameters and muscle moment arms. Joint moments and muscle forces estimated by the computed muscle control (CMC) method using kinematic data from six healthy adolescents at their comfortable speed were used to evaluate the PMFE. The simulation results show that muscle forces estimated from the PMFE match well with those from the CMC, and the PMFE has significant computational efficiency (the entire swing phase takes only 0.02 s). As a case study, a novel patient-specific biological command-based controller (PSBc), based on the PMFE, was developed to control a human-inspired swing-assist rehabilitation robot. The PSBc is evaluated by both simulation and robot experiment. The simulation results and the preliminary experiment results demonstrate that the PSBc could track both desired knee angles and desired forces. The results show the possibility of applying biomechanics methodology to the rehabilitation robot field.     

一种三维力反馈训练仿真控制系统设计

针对空间站舱外任务需要研究人员通过遥操作控制平台对空间站机械臂遥操作来完成,而空间站机械臂研制成本高,无法实现现场调试,直接投入使用风险性高,系统安全性与可靠性无法保障的缺陷与不足,设计了一种面向空间站机械臂的遥操作力反馈训练的仿真控制系统.重点阐述了该系统的工作原理以及系统硬件和软件设计思路.该系统的力反馈手柄具有3个自由度,充分模拟操作空间;力反馈手柄末端位置信息和力反馈信息,由微控制器STM32系列单片机与PC实现数据传输.实验结果验证了该系统面向空间站虚拟机械臂的力反馈控制仿真功能、系统硬件和软件的可靠性,为空间站机械臂的虚拟仿真提供了一种可行方案.     

虚拟现实系统中的手部跟踪和力觉再现技术研究

提出了一种具有手部跟踪和力觉再功能的ＶＲ系统的设计和实现方案,给出了该系统的控制结构和控制算法。实验结果表明,系统了设计的可行性。