基于动态插补方法的上肢康复机器人运动控制

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

为提高康复训练机器人运动控制性能,提出了基于动态插补策略的控制系统设计方法.首先采用分段平滑标准差方法提取患肢运动特征并通过模糊推理实时评估患肢物理状态;然后运用动态插补决策机制选择适宜的插补方法进行运动控制;最后利用位置阻抗控制实现训练运动.该方法避免了传统单一插补方法的局限性,能够有效地融合不同插补方法的特性.在由WAMTM构建的康复机器人平台上进行实验,结果表明,本文方法在扰动情况下具有更优的运动控制性能.

A control system design method based on dynamic interpolation strategy is proposed to improve the motion control performance of rehabilitation robot. Firstly, the impaired-limb movement features are extracted with sliding standard deviation for a certain data samples, and the real-time physical state of impaired limb is acquired by fuzzy reasoning. Secondly, the appropriate interpolation method for motion control is recommended using dynamic interpolation decision-making mechanism. Finally, the position-based impedance control is adopted to carry out training exercise. The proposed method avoids the limitations of the conventional single-interpolation methods, and effectively integrates the characteristics of different interpolation methods. Experimental results based on WAM^TM rehabilitation robot show that the designed control system with proposed method demonstrates better motion control performances under disturbances.