| 基于阻抗控制的步行康复训练机器人的轨迹自适应 |
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| 引用本文： | 文忠,钱晋武,沈林勇,章亚男. 基于阻抗控制的步行康复训练机器人的轨迹自适应[J]. 机器人, 2011, 33(2): 142-149. DOI: 10.3724/SP.J.1218.2011.00142 |
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| 作者姓名： | 文忠 钱晋武 沈林勇 章亚男 |
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| 作者单位： | 上海大学机电工程与自动化学院智能机械与系统实验室,上海,200072 |
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| 基金项目： | 国家863计划资助项目，国家自然科学基金资助项目，上海市学科带头人计划资助项目，上海大学研究生创新基金资助项目 |
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| 摘 要： | 把阻抗控制理论运用到步行康复训练机器人系统中,使用基于位置的阻抗控制模型设计了系统的控制器.提出基于阻抗模型的步态轨迹白适应算法,并分析了系统的误差.在建立的Solid Works、Matlab、Adams虚拟样机联合仿真平台上进行了主动康复训练的仿真实验,并在实物样机上进行了健康训练者的实验.结果表明,该控制器能够实...
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| 关 键 词： | 步行康复训练机器人 阻抗控制 步态轨迹自适应 联合仿真 |
Trajectory Adaptation for Impedance Control Based Walking Rehabilitation Training Robot |
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| WEN Zhong,QIAN Jinwu,SHEN Linyong,ZHANG Ya'nan. Trajectory Adaptation for Impedance Control Based Walking Rehabilitation Training Robot[J]. Robot, 2011, 33(2): 142-149. DOI: 10.3724/SP.J.1218.2011.00142 |
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| Authors: | WEN Zhong QIAN Jinwu SHEN Linyong ZHANG Ya'nan |
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| Affiliation: | WEN Zhong,QIAN Jinwu,SHEN Linyong,ZHANG Ya'nan (Laboratory of Intelligent Machine and System,School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China) |
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| Abstract: | The impedance control theory is applied to the walking rehabilitation robot system,and the location-based impedance control model is used to design system controller.Impedance model based gait trajectory adaption algorithm is proposed,and the system error is analyzed.SolidWorks,Matlab and Adams are integrated as a united simulation platform for virtual prototype of the robot to develop the experiment of active training,and the experiments with healthy subjects are implemented on physical prototype.The resul... |
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| Keywords: | walking rehabilitation training robot impedance control gait trajectory adaptation united simulation |
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