| 一种上肢康复机器人的力矩控制系统设计 |
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| 引用本文： | 董 祺,喻洪流,方又方.一种上肢康复机器人的力矩控制系统设计[J].电子科技,2017,30(4):136. |
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| 作者姓名： | 董 祺 喻洪流 方又方 |
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| 作者单位： | (1.上海理工大学 康复工程与技术研究所，上海 200093；2. 上海康复器械工程技术研究中心，上海 200093；;
3. 民政部神经功能信息与康复工程重点实验室，上海 200093；4. 上海理工大学 医疗器械与食品学院，上海 200093) |
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| 基金项目： | 上海市科技支撑资助项目（16441905602）；上海市科委平台建设上海康复器械工程技术研究中心基金资助项目（15DZ2251700） |
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| 摘 要： | 针对目前上肢康复机器人的输出力矩控制不便的问题，设计了一种基于磁粉离合器的力矩控制系统，并给出了相应的驱动电路。磁粉离合器能根据驱动电路的驱动电流输出相应的传递力矩，进而可以控制上肢康复机器人的输出力矩。经应用表明，该系统控制简便、安全性高，符合不同康复训练模式下对输出力矩的要求，为实时控制康复机器人的输出力矩提供了可行性验证。
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| 关 键 词： | 上肢康复机器人 磁粉离合器 驱动电路 输出力矩 |
Design of a Torque Control System for the Upper Limb Rehabilitation Robot |
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| DONG Qi,YU Hongliu,FANG Youfang.Design of a Torque Control System for the Upper Limb Rehabilitation Robot[J].Electronic Science and Technology,2017,30(4):136. |
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| Authors: | DONG Qi YU Hongliu FANG Youfang |
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| Affiliation: | (1. Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology,Shanghai 200093, China;2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093 China;
3. Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, shanghai 200093,China;4. Institute of MedicalInstrument and Food Engineering, University of Shanghai for Science and Technology,Shanghai 200093,China |
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| Abstract: | Refering to the current inconvenient problems of controlling the output torque of the upper limb rehabilitation robot, this paper propose a torque control system based on magnetic-powder clutch, and put forward the corresponding driving circuit. The magnetic-powder clutch can output the corresponding transmission torque according to the current of the driving circuit, so as to control the output torque of the upper limb rehabilitation robot. The application shows that the system is convenient and safety. Itmeets the requirements of the output torque in different rehabilitation training mode and provides a feasible verification for real-time control of the output torque in rehabilitation robot. |
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| Keywords: | upper limb rehabilitation robot magnetic powder clutch driving circuit output torque |
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