遥操作康复机器人系统的透明性研究

Study on Transparency of Tele-rehabilitation System

针对遥操作康复机器人系统通信时延引起系统性能下降问题,通过建立系统的等效电路图,采用阻抗匹配的方法分析了系统在有时延和无时延两种情况下的透明性。仿真实验结果表明该方法的有效性,时延下的系统在保证稳定的基础上实现了良好的透明性。

To the problem that the communication time delay usually causes bad performance of the tele-reha- bilitation system. In order to eliminate the effect of that, the whole system is established the equivalent circuit dia- grams. Then the method of impedance matching is adopted to analyze the system＇s transparency with time delay or not. The simulation results illustrate the validity of the proposed method and the system has good stability and trans- parency.