基于速度场的上肢康复机器人的主动控制策略

Active Control Strategy for Upper Limb Rehabilitation Robot Based on Velocity Field

针对上肢辅助康复机器人在临床使用中的安全性和平稳性,以及主动康复阶段对患者主动参与康复训练的要求,采用了有别于传统轨迹跟踪的轮廓跟踪策略,并设计了一个主动控制器.轮廓跟踪策略是通过空间中的速度场约束机器人的运动来实现的.速度场可使机器人平滑而稳定地沿着期望的空间曲线运动.主动控制器引入了患者作用力,使机器人的运动速度能够根据患者所施加的作用力进行调整,实现患者主动参与康复训练的目的.仿真结果表明,轮廓跟踪-主动控制策略能够在保证跟踪精度的同时实现人机交互.

Considering the safety and stability of an upper limb rehabilitation robot and patients＇ active participation in rehabilitation training stage,a contour following strategy different from trajectory tracking is applied,as well as an active controller. The contour following strategy can be implemented through confining robot＇s motion by velocity fields. The velocity fields enable the robot to follow desired curves in space smoothly and stably. The velocity of robot motion can be adjusted according to the patient＇s forces which are taken into account in the active controller,thus promoting the patients to participate rehabilitation training actively. Simulation results show that the contour following and active controller ensure tracking precision and realize human-robot interaction.