基于下肢病情估计的康复机器人自适应阻抗控制

针对康复患肢的病情变化,提出了一种自适应阻抗控制方法。在患肢康复过程中,患肢的病情是进行康复训练的基础。首先采用周期参数来估计患肢病情,然后建立以符合生理学特征的标准函数为基础的轨迹参数,采用超代遗传算法,对下肢轨迹参数和阻抗参数优化,接着设计了自适应阻抗控制器,最后进行仿真实验,通过与传统方法比较,结果验证了超代遗传算法的有效性。

Impedance Control for Lower Limb Rehabilitation Robot Based on Elevation of Impaired Limb

The application of robotics and automation technology can serve to assist neurological rehabilitation. In this paper, an impedance control algorithm is introduced based on the physical recovery condition of the impaired lower limb. First, the physical recovery condition is evaluated using the periodic parameters, second, the reference trajectories are presented based on standard functions that satisfy physiological characteristics and third, the desired impedance and the reference trajectory are optimized by hyper generation genetic algorithm and then an adaptive impedance controller is designed, finally the simulation test is conducted and the effectiveness of hyper generation genetic algorithm is validated by comparing with the traditional methods.