计算机工程与应用Issue(17)：233-237,249,6.DOI:10.3778/j.issn.1002-8331.1406-0479
实时上肢参数辨识的康复机器人力控制研究
Research on rehabilitation robot force control of real- time upper limb dynamic parameter identification
摘要
Abstract
When rehabilitating training for patients, the auxiliary force calculation errors are caused by inaccurate estima-tion and change of upper extremity kinetics parameters, which affect accurate and stable training control. In order to reduce the auxiliary force calculation error and achieve accurate and stable control performance, an impedance control algorithm with the real-time upper limb dynamic parameter identification is proposed based on impedance control algorithm and using multiple linear regression method to identify the upper extremity kinetics parameters in this paper. The dynamic model of the rehabilitation robot is modeled and the proposed impedance control algorithm is researched by simulation. The simula-tion results show that the impedance control algorithm can identify the upper extremity kinetics parameters and eliminate the auxiliary force calculation errors in the training process, and realize the precise trajectory control.关键词
参数辨识/康复机器人/阻抗控制/轨迹跟踪Key words
parameter identification/rehabilitation robot/impedance control/trajectory tracking分类
信息技术与安全科学引用本文复制引用
贠今天,孟宪全,桑宏强,杨向红..实时上肢参数辨识的康复机器人力控制研究[J].计算机工程与应用,2015,(17):233-237,249,6.基金项目
国家自然科学基金（No.51205287）；天津市高等学校科技发展基金计划项目（No.20110402）。 （）
