基于多传感器的助行康复机器人控制方法研究

Control Method of a Walking-aid Rehabilitation Robot Based on Multi-Sensors

针对助行康复机器人运动意图判断中存在的问题,提出了一种基于模糊控制的多传感器融合下助行康复机器人的运动控制方法。首先分析了机器人的机械结构,建立了用于机器人控制的运动学模型,其次通过人体行走时骨盆与机器之间的作用力及骨盆转动角度,判断出使用者的运动意图。使用模糊控制,最终把力信息和骨盆转角信息转化为机器人期望的运动速度大小和方向。最后通过健康受试者对控制方法和运动意图判断方法进行实验验证,结果表明提出的控制方法可以判断出使用者运动意图并且跟踪误差较小。

A motion control algorithm based on the fuzzy control for multi-sensors is presented aiming at the problem of motion intention recognition with the walking-aid rehabilitation robot.First,the mechanical structure of the robot is analyzed and the kinematic model for the robot control is established.Second,the user's motion intention is determined by the interaction forces between the pelvis and the machine and the pelvic rotation angle during gait.Through fuzzy control,the interaction forces and the pelvic angle signals are transformed into the desired velocity of wheels and heading direction of the robot.At last,verification experiments with three health volunteers are carried out to test the effectiveness of the control method and the user's motion intention recognition.