华中科技大学学报（自然科学版）Issue(z1)：355-358,4.DOI:10.13245/j.hust.15S1084
基于模糊 PI 控制的穿戴式上肢康复机器人
Wearable upper-limb robot for rehabilitation based on fuzzy PI control
摘要
Abstract
In order to speed up the rehabilitation of the reaching function of patients with motor dys-function,a wearable upper-limb robot for rehabilitation based on fuzzy PI control was developed. Combined with eye tracker,exercise therapy for upper limb can be achieved in a virtual reality envi-ronment,and fuzzy PI controller is used for position control.Experiments were carried out to evaluate the effectiveness of fuzzy PI control by completing the trajectory tracking of each joint with subjects wearing the robot.The results show that fuzzy PI control can reduce the response time and the trajec-tory tracking error of the joint,and also prove the good availability of fuzzy PI control.关键词
康复机器人/气动肌肉/模糊 PI 控制/可穿戴式/虚拟现实Key words
rehabilitation robot/pneumatic muscle/fuzzy PI control/wearable/visual reality分类
信息技术与安全科学引用本文复制引用
郭萌,涂细凯,何际平,黄心汉..基于模糊 PI 控制的穿戴式上肢康复机器人[J].华中科技大学学报（自然科学版）,2015,(z1):355-358,4.基金项目
国家科技支撑计划资助项目（2012BAI33B01）． （）
