郑州大学学报（工学版）2024，Vol.45Issue(1)：12-20,9.DOI:10.13705/j.issn.1671-6833.2024.01.002
基于模糊控制的上肢康复机器人变导纳控制
Variable Admittance Control of Upper Limb Rehabilitation Robot Based on Fuzzy Control
摘要
Abstract
Traditional fixed-parameter admittance models could not adjust the compliance of upper limb rehabilita-tion robots in real-time,existing variable-parameter admittance models required improvement based on actual reha-bilitation needs.To address this issue,a novel variable-admittance control strategy was proposed for upper limb re-habilitation robots with a self-developed series-parallel hybrid end-effector traction structure,combining fuzzy and admittance control and tailored to actual rehabilitation needs.Four fuzzy rules that could benefit rehabilitation effi-ciency and safety were developed.This strategy proposed the use of interaction force error and its rate of change as inputs to fuzzy control,to adjust admittance model parameters and achieve autonomous compliance control in real time.Simulation and experimental results validated the feasibility of the proposed variable-admittance control strate-gy and the effectiveness of the developed four fuzzy rules.In scenarios where patients could adapt to training inten-sity,the variable-admittance model could reduce the redundant path generated during path tracking by up to 56.13％thus improving rehabilitation training efficiency.When rehabilitation movements exceeded the patients'tolerance limit,the variable-admittance model could change the tracking path half a second earlier,improving reha-bilitation safety.关键词
导纳控制/模糊控制/人机交互力/上肢康复机器人/康复训练Key words
admittance control/fuzzy control/human-computer interaction force/upper limb rehabilitation robot/rehabilitation training分类
信息技术与安全科学引用本文复制引用
高建设,刘陆骐,王杰,李雪晓,丁顺良,高亦阳,王轩..基于模糊控制的上肢康复机器人变导纳控制[J].郑州大学学报（工学版）,2024,45(1):12-20,9.基金项目
国家自然科学基金资助项目(51906225) （51906225）
河南省高等学校重点科研项目(19A460008) （19A460008）
