助行康复机器人减重支撑单元控制仿真研究

Research on control simulation of body weight support mechanism in walking assistance rehabilitation robot

目的:研究助行康复机器人减重支撑机构恒质量减重控制策略,为神经损伤患者运动过程下肢承受动态负荷的训练提供理论依据。方法:设计一种用于助行康复机器人的减重支撑机构,研究行走过程中人机系统的动力学特性,并提出了平衡身体重力及惯性力的恒质量减重控制策略。根据人体运动重心变化规律及机构参数,通过MATLAB软件对助行过程中恒质量减重控制进行了仿真研究。结果:仿真结果验证了在力闭环控制器的作用下,支撑机构能够跟踪人体的主动运动并对人体实现恒质量减重。结论:减重支撑机构适用于减重步行康复训练,恒质量减重控制策略为患者下肢承受动态负荷的训练提供了理论依据。

Objective：To research constant quality body weight support control strategy of body weight support mechanism of walking assistance rehabilitation robot,to provide theory for the training of nerve injury patients’ lower limbs bearing dynamic loads.Method：Body weight support mechanism in walking assistance rehabilitation robot was designed,and the dynamic equations of man-machine system were deduced.Constant quality body weight support control strategy was presented.The processing of aided walking was simulated using MATLAB tool based on human body motion parameters and mechanism parameters.Result：The simulation result showed that the mechanism could follow the active motion of human and provide constant quality body weight support under the force closed loop controller.Conclusion：The body weight support mechanism was fitted for walking rehabilitation training,and the constant quality body weight support control strategy provided the theory for the training of nerve injury patients’ lower limbs bearing dynamic loads