踝关节康复机器人主动训练柔顺控制研究

Research on Active Training Compliance Control of Ankle Rehabilitation Robot

为保证踝关节康复机器人能为主动康复训练的患者准确提供任意性质的训练力,以气动肌肉冗余并联驱动踝关节康复机器人为对象,研究无误差力跟踪方法和主动训练柔顺控制策略。建立了踝关节康复机器人的动力学模型,基于阻抗控制理论研究了无误差力跟踪的轨迹规划方法,运用李亚谱诺夫稳定性理论提出了气动肌肉冗余并联驱动的柔顺控制策略,以助力和抗阻两种主动训练模式为例,进行了康复训练控制仿真,结果表明,所提出的力跟踪方法和柔顺控制策略不仅能确保主动训练的安全性,还能为训练提供任意而准确的助力和阻力。

In order to ensure that ankle rehabilitation robot can accurately supply arbitrary characteristic training force for patient during active training, the pneumatic muscle redundant parallel driving ankle rehabilitation robot was taken as research objects, the zero error force tracking method and the compliance control strategy for active training were researched. The dynamics model of the ankle rehabilitation robot were set up, based on the impedance control theory, the trajectory planning method for the zero error force tracking was researched, and based on the Lyapunov’s stability theory, the pneumatic muscle redundant parallel driving compliance control strategy was proposed. Rehabilitation training control simulations for the two active training modes including assistance training and resistance training were carried out, and the results show that the robot with the force tracking method and the compliance control strategy can not only ensure training security, but also supply accurate assistance force and resistance force for active ankle rehabilitation training.