基于混杂理论的机器人辅助康复治疗控制方法

Therapeutic Control Method for Robotic-aided Rehabilitation Training Based on Hybrid Theory

现有机器人辅助康复治疗控制方法大多是分别从机器人连续变量运动控制或医师离散事件决策控制角度设计控制器,未能将系统这种混杂特性融于统一框架内,具有一定的局限.为更好解决上述问题,本文在分析机器人辅助康复过程的连续与离散混杂特性的基础上,以渐进抗阻肌力训练过程为例,提出一种基于混杂理论的机器人辅助康复治疗控制方法.该方法通过定义肌力训练过程中离散系统控制状态、控制输出向量及连续系统状态转换产生的离散事件,设计了基于混杂自动机的离散事件决策控制器.临床实验结果表明,混杂系统理论应用于机器人辅助康复过程具有较好的有效性和实用性.

The current robot-aided therapeutic control methods are mainly designed from the viewpoints of robotic con-tinuous variable motor control or therapist’s discrete event decision control, and the system’s hybrid characteristics are not incorporated into a unified framework. In order to solve the aforementioned limits, the continuous and discrete hybrid char-acteristics of robot-aided rehabilitation are firstly analyzed, and a new robot-aided therapeutic control method using hybrid control theory is proposed with progressive resistance muscle training as an example. The presented method defines discrete system control states, control output vector and continuous system state transitions discrete symbols for muscle strength training, by which a discrete event decision controller is constructed using hybrid automaton. Clinical experimental results indicate that the robot-aided rehabilitation using the proposed hybrid therapeutic controller has good efficacy and practicality.