机器人2011，Vol.33Issue(5)：585-591,7.DOI:10.3724/SP.J.1218.2011.00585
六连杆助行康复机器人鲁棒控制
Robust Control of Six-linkage Walking Assistance Rehabilitation Robot
摘要
Abstract
A mechanism model of a six-linkage walking assistant rehabilitation robot is presented to help the aged and hemiplegic patients walk with natural gait. Considering the weight difference among patients and the changes in muscular tension of lower limbs during assisted-walking training, a robust controller with anti-jamming performance is designed based on the robot dynamics analysis. It is proved by Lyapunov theory that the controller can suppress the influence from external interference signals effectively. The robust control experiment results show that the controller can suppress the influence of load variations and uncertain disturbance.关键词
助行康复机器人/动力学/鲁棒控制/助行训练Key words
walking assistance rehabilitation robot/ dynamics/ robust control/ walking training分类
信息技术与安全科学引用本文复制引用
张立勋,伊蕾,白大鹏..六连杆助行康复机器人鲁棒控制[J].机器人,2011,33(5):585-591,7.基金项目
国家863计划资助项目(2008AA040203). （2008AA040203）
