康复外骨骼柔性髋关节设计与人机交互控制

Design and human-robot interaction control of rehabilitation exoskeleton compliant hip joint

针对患者髋关节运动康复治疗过程中,辅助力不能随人体下肢参数实时调整的问题,提出了基于摩擦力补偿和模糊阻抗控制的人机交互控制方法.基于髋关节生物学基础进行仿生机构设计,并且为避免人体下肢阻抗参数对柔性髋关节输出的影响,进行人机系统动力学建模.基于扩展卡尔曼滤波进行电机内部摩擦力补偿,减小摩擦力对电机输出位置的影响.用辨识算法估计人体下肢阻抗参数,并基于模糊阻抗控制构建闭环人机交互控制器,实时调整接触力,实现步态轨迹训练.实验验证了康复外骨骼柔性髋关节设计的合理性和人机交互控制器方法的有效性.

To solve the problem that the auxiliary force cannot be adjusted in real-time with the parameters of the lower limbs of the human body during the rehabilitation treatment of hip joint motion,a human-robot interaction control method based on friction compensation and fuzzy impedance control was proposed.The design of the bionic mechanism was based on the biological basis of the human hip joint,and to avoid the influence of the impedance parameters of the human lower limb on the output of the compliant hip joint,the dynamic modeling of the human-robot system was carried out.Based on the EKF(extended Kalman filter),the internal friction of the motor was compensated to reduce the friction influence on the motor output position.An identification algorithm was used to estimate the impedance parameters of the human lower limbs,a closed-loop human-robot interaction controller was constructed based on fuzzy impedance control,and the contact force was adjusted in real-time to achieve gait trajectory training.The experiment verified the rationality of the design of the rehabilitation exoskeleton compliant hip joint and the effectiveness of the human-robot interaction controller method.