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| 机器人辅助上肢关节运动控制与临床实验研究 | |
| 引用本文： | 徐国政,宋爱国,高翔,梁志伟,李会军,崔建伟,徐宝国.机器人辅助上肢关节运动控制与临床实验研究[J].机器人,2012,34(1):92-97,103. |
| 作者姓名： | 徐国政 宋爱国 高翔 梁志伟 李会军 崔建伟 徐宝国 |
| 作者单位： | 1. 南京邮电大学自动化学院,江苏南京,210046 2. 东南大学仪器科学与工程学院,江苏南京,210096 3. 南京邮电大学自动化学院,江苏南京210046;东南大学复杂工程系统测量与控制教育部重点实验室,江苏南京210096 |
| 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，江苏省自然科学基金资助项目，南京邮电大学人才引进项目，江苏省优势学科建设联合资助项目，江苏省高校自然科学基金资助项目，东南大学MCCSE教育部重点实验室开放基金资助项目 |
| 摘 要： | 针对机器人辅助患肢被动康复训练过程中关节活动度(ROM)及运动控制参数不能随患肢病情实时调整的问题,提出一种新的模糊自适应关节被动运动闭环监督控制方法.该方法首先根据患肢关节活动恢复程度设计上层监督控制器,得到符合患肢病情的关节期望运动范围；再通过设计下层闭环位置跟踪控制器,控制机器人平稳地牵引患肢关节沿目标轨迹进行训练.临床实验结果验证了所提算法的有效性. |
| 关 键 词： | 康复机器人 模糊逻辑 监督控制 临床实验 |
Robot-assisted Upper-limb Joint Movement Control and Clinical Experimental Study |
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| XU Guozheng , SONG Aiguo , GAO Xiang , LIANG Zhiwei , LI Huijun , CUI Jianwei , XU Baoguo.Robot-assisted Upper-limb Joint Movement Control and Clinical Experimental Study[J].Robot,2012,34(1):92-97,103. | |
| Authors: | XU Guozheng SONG Aiguo GAO Xiang LIANG Zhiwei LI Huijun CUI Jianwei XU Baoguo |
| Affiliation: | 1.College of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210046.China; 2.School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China; 3.Key Laboratory of Measurement and Control of CSE {Ministry of Education),School of Automation,Southeast University.Nanjing 210096,China) |
| Abstract: | A fuzzy adaptive closed-loop supervisory control method for passive movement of joints is presented to solve the problem that the joint range of motion(ROM) and motion control parameters can not be regulated in real time according to the impaired limb’s physical condition in robot-assisted impaired limb passive rehabilitation training.Firstly,a high-level supervisory controller is designed based on the impaired limb’s joint motion recovery condition,and the desired ROM in agreement with the impaired limb’s physical circumstances is obtained;then,a low-level closed-loop position tracking controller is proposed to control the robot to stably and smoothly stretch the impaired limb to move along the predefined trajectory.Finally,clinical experiment results verify the effectiveness of the proposed control strategy. |
| Keywords: | rehabilitation robot fuzzy logic supervisory control clinical experiment |
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