摘要
针对机器人辅助患肢被动康复训练过程中关节活动度(ROM)及运动控制参数不能随患肢病情实时调整的问题,提出一种新的模糊自适应关节被动运动闭环监督控制方法.该方法首先根据患肢关节活动恢复程度设计上层监督控制器,得到符合患肢病情的关节期望运动范围:再通过设计下层闭环位置跟踪控制器,控制机器人平稳地牵引患肢关节沿目标轨迹进行训练.
A fuzzy adaptive closed-loop supervisory control method for passive movement of joints is presented to solve the problem that the joint range of motion（ROM） and motion control parameters can not be regulated in real time according to the impaired limb＇s physical condition in robot-assisted impaired limb passive rehabilitation training.Firstly,a high-level supervisory controller is designed based on the impaired limb＇s joint motion recovery condition,and the desired ROM in agreement with the impaired limb＇s physical circumstances is obtained;then,a low-level closed-loop position tracking controller is proposed to control the robot to stably and smoothly stretch the impaired limb to move along the predefined trajectory.Finally,clinical experiment results verify the effectiveness of the proposed control strategy.
出处
《机器人》
EI
CSCD
北大核心
2012年第1期92-97,103,共7页
Robot
基金
国家863计划资助项目(2008AA040202)
国家自然科学基金资助项目(61104206
61104216)
汀苏省自然科学基金资助项目(BK2010063
BK2008141)
南京邮电大学人才引进项目(NY211020)
江苏省优势学科建设联合资助项目(YX002001)
江苏省高校自然科学基金资助项目(10KJB510014)
东南大学MCCSE教育部重点实验室开放基金资助项目(2010A003)
关键词
康复机器人
模糊逻辑
监督控制
临床实验
rehabilitation robot
fuzzy logic
supervisory control
clinical experiment
