基于下肢动力学检测分析的站起康复训练机器人控制

Control methods for standing- up rehabilitation robot based on estimation and analysis of lower limb kinetics

提出了人体站起轨迹控制方法(TCM)和阻尼控制方法(ICM)。采用这两种控制方法可以实现对机器人系统的控制,使患者能安全、有效地进行下肢站起运动康复训练。在患者站起过程中,下肢各肢段旋转角、身体运动轨迹、地面反力(GRF)、压力中心(COP)和绳索张力等参数可由康复机器人系统中的相应传感器实时检测得出,并通过实时运算得出髋、膝、踝各关节力矩,用于反馈控制。试验结果表明,该方法可以保证患者实现安全、舒适、有效的站起训练,适用于站起康复训练机器人控制系统。

A Trajectory Control Method （TCM） and an Impedance Control Method （ICM） are presented. The methods are used to control the robot system so that patients can safely and effectively conduct lower extremity rehabilitation training for standing-up process. During standing-up process, the body segment rotational angles, movement trajectories, Ground Reaction Forces （GRF）, Centre of Pressure （COP） and rope tensile forces are measured by the robot sensor system; the joint moments of ankle, knee and hip are calculated in real-time control program for feed-back-control. Experiment results show that the methods are suitable for standing-up rehabilitation training robot control system, and ensure safe, comfortable and effective rehabilitation training of the lower limbs.