机器人2012，Vol.34Issue(1)：92-97,103,7.DOI:10.3724/SP.J.1218.2012.00092
机器人辅助上肢关节运动控制与临床实验研究
Robot-assisted Upper-limb Joint Movement Control and Clinical Experimental Study
摘要
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.关键词
康复机器人/模糊逻辑/监督控制/临床实验Key words
rehabilitation robot/ fuzzy logic/ supervisory control/ clinical experiment分类
信息技术与安全科学引用本文复制引用
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):92-97,103,7.基金项目
国家863计划资助项目(2008AA040202) （2008AA040202）
国家自然科学基金资助项目(61104206,61104216) （61104206,61104216）
江苏省自然科学基金资助项目(BK2010063,BK2008141) （BK2010063,BK2008141）
南京邮电大学人才引进项目(NY211020) （NY211020）
江苏省优势学科建设联合资助项目(YX002001) （YX002001）
江苏省高校自然科学基金资助项目(10KJB510014) （10KJB510014）
东南大学MCCSE教育部重点实验室开放基金资助项目(2010A003). （2010A003）
