下肢外骨骼康复机器人的灵敏度放大控制研究

Research on sensitivity amplification control of lower limbs exoskeletons rehabilitation robot

针对课题组研发的下肢外骨骼康复机器人中的患者主动训练模式,提出了灵敏度放大的控制方法,建立弹簧阻尼模型更好的模拟出人机交互时的交互力,并通过Matlab/Sim Mechanics和BP神经网络建立逆动力学模型,用Sim Mechanics和Simulink模块进行了计算机仿真实验,仿真结果表明采用灵敏度放大控制方法能减小患者训练时体能的消耗,实现了患者以较小的力矩带动外骨骼实现共同运动,同时可以采集到患者腿部的数据进行康复评价.

For the development of lower extremity exoskeleton robot rehabilitation of patients with active training mode, the method of controlling the sensitivity of the amplification was proposed, and a better spring-damper model was built to simulate the interaction force of human-computer interaction and established inverse dynamics model by Matlab/SimMechanics and BP neural network after Computer simulation experiments had been made by SimMechanics and Simulink Module. The simulation results show that Sensitivity amplification control method can reduce physical exertion of patient, and implement patient with less torque to achieve common movement driven exoskeleton, meanwhile, data collected in the legs can be used in Rehabilitation Evaluation.