基于模糊补偿的主从式上肢外骨骼康复机器人训练控制方法

针对主从式上肢外骨骼康复机器人主臂信息获取、从臂快速响应等问题,提出了基于关节位姿、速度和力/力矩等信息的运动意图建模方法及基于模糊补偿的康复训练控制策略.根据人体工程学原理,提出了一种同构同型的主从式双臂康复机器人新型结构;利用D-H算法给出了笛卡儿空间的主从臂运动学模型,建立了患者健肢运动意图信息和从臂各关节动作的人机协作映射关系;以患者运动意图力矩作为输入,基于模糊补偿算法提出了患者-主臂-从臂协作控制策略,并利用李亚普诺夫定理证明了该控制系统的稳定性.仿真结果表明,康复机器人从臂可以根据患者运动意图跟随主臂运动,能有效地防止抖动误动,可避免对患肢的二次伤害.实验结果表明从臂运动轨迹平滑,无剧烈波动,控制轨迹跟踪主臂效果好.

Master-Slave Upper-limb Exoskeleton Rehabilitation Robot Training Control Method Based on Fuzzy Compensation

For the problems of the master-slave upper-limb exoskeleton rehabilitation robot,such as the information acquisition of the main arm,and the rapid response of the slave arm,this paper proposes a motion intention modeling method based on the information of joint pose,speed and force/torque,and a control strategy of rehabilitation training based on fuzzy compensation.Firstly,a structure of master-slave dual arm isomorphic rehabilitation robot is proposed according to the principle of ergonomics.Then the kinematics model of the master-slave arm is set up in Cartesian space using D-H algorithm,where the mapping relationship from the motion intention information of the patient's healthy limb to the action of the slave arm joints is given for human-machine cooperation.The patient-master-slave arm cooperative control strategy is then proposed based on the fuzzy compensation algorithm,taking the moment of the patient's intentional motion as the input parameter. The stability of the control system is finally proved by Lyapunov theorem.The simulation results show that the slave arm of the rehabilitation robot can follow the motion of the .master arm according to the patient's motion intention,and effectively avoid the rnisoperation and the secondary injury to the affected limb.The experiment verifies that the slave arm has a good trajectory approximation effect and its trajectory is smooth without severe fluctuation.