安徽工程大学学报2025，Vol.40Issue(2)：1-7,7.
直腿抬高康复模式下机械臂单绳悬吊恒力控制
Constant Force Control of Single Rope Suspension by Mechanical Arm in Straight Leg Lifting Rehabilitation Mode
摘要
Abstract
To address the issue of lower limb movement disorder patients relying too heavily on assisted force during traditional straight leg raise rehabilitation training,leading to insufficient activation of their own initiative force,a robotic arm single-rope suspension system is utilized to accomplish constant-force weight reduction rehabilitation tasks,with the aim of establishing generalized training objectives.To achieve the desired control effect,the force state of the patient during the training process was analyzed,and a mapping relationship between hip joint rotation angle and suspension tension under conditions of complete patient passivity was established.Based on the patient's hip joint rotation angle during voluntary movement,the constant-force weight reduction target for the patient's current rehabilitation stage was determined.A Beetle Antennae fuzzy PID controller was employed for control,and a comparative experiment of constant tension control was conducted with fuzzy PID and classical PID controllers.The tracking of the set target suspension tension by the controller reveals that,in the movement stage,the tracking error of the tension output by the controller optimized with the beetle antennae search algorithm is smaller compared to that of the fuzzy PID and classical PID controllers.In the static hold phase,the steady-state time of the tension output by the optimized controller is shorter than that of the other two control strategies,with a faster response speed.The feasibility of the constant force weight reduction system of the robotic arm in straight leg raise rehabilitation training was demonstrated,and the effectiveness of the Beetle Antennae optimization algorithm significantly enhanced the stability and efficiency of the training.关键词
康复机械臂/直腿抬高/单绳悬吊/恒力减重/天牛须搜索算法/模糊PIDKey words
rehabilitation robotic arm/straight leg raise/single-rope suspension/constant force weight loss/beetle antennae search algorithm/fuzzy PID分类
信息技术与安全科学引用本文复制引用
朱璇,凌六一..直腿抬高康复模式下机械臂单绳悬吊恒力控制[J].安徽工程大学学报,2025,40(2):1-7,7.基金项目
安徽理工大学环境友好材料与职业健康研究所研究与发展基金(ALW2022YF06) （ALW2022YF06）
安徽省高校协同创新项目(GXXT-2022-053) （GXXT-2022-053）
