沈阳航空航天大学学报2024，Vol.41Issue(5)：62-71,10.DOI:10.3969/j.issn.2095-1248.2024.05.007
桌面式上肢康复机器人自适应柔顺性控制方法
Adaptive compliance control method of desktop upper limb rehabilita-tion robot
摘要
Abstract
Taking a six degrees of freedom desktop upper limb rehabilitation robot(DULRR)as the re-search object,it was observed that traditional position control cannot meet the needs of patient rehabili-tation training and may lead to secondary injuries during the rehabilitation process.To address this is-sue,a position closed-loop adaptive compliance control method was proposed.Firstly,based on the ki-nematic model of DULRR,a position controller based on fuzzy PID was constructed.Then,utilizing the impedance model's ability to convert force signals into velocity and position signals,an adaptive com-pliance controller based on pressure sensors was proposed.Combined with the proposed fuzzy PID con-troller,a complete DULRR passive rehabilitation training control method was formed.Finally,the supe-riority of the adaptive compliance control method based on position closed-loop was verified through simulation analysis and prototype experiments.The experimental results show that compared with tradi-tional PID controllers,fuzzy PID in the DULRR system has shorter response time and smaller steady-state error,demonstrating better trajectory tracking ability.Meanwhile,the controller exhibits good flexi-bility,meeting the needs of early passive rehabilitation training for patients and avoiding secondary in-juries during the rehabilitation process.关键词
康复机器人/全方位移动机器人/运动学模型/模糊PID/自适应柔顺控制Key words
rehabilitation robot/omni-directional mobile robot/kinematic model/fuzzy PID/adaptive compliant control分类
信息技术与安全科学引用本文复制引用
叶长龙,彭晶鑫,于苏洋,姜春英..桌面式上肢康复机器人自适应柔顺性控制方法[J].沈阳航空航天大学学报,2024,41(5):62-71,10.基金项目
辽宁省自然科学基金(项目编号:20180520033) （项目编号:20180520033）
