微力矩反馈自适应耦合运动控制上肢康复机器人结构及控制系统设计

Design of Structure and Control System for the Microtorque Feedback Adaptive Coupling Motion Control Upper-Limb Rehabilitation Robot

针对上肢运动障碍的患者数量逐年增多,设计了一种微力矩反馈自适应耦合运动控制上肢康复机器人。根据上肢康复训练要求,完成了机器人的机械结构设计,进行了运动学及动力学分析。并针对微力矩反馈自适应耦合运动控制策略进行了研究,利用患者人体的主动运动意识,充分发挥患者已恢复的运动能力进行微力矩实时反馈自适应耦合运动控制。最后,通过实验进行验证,达到了预期目标。这种运动控制方法进一步提高了上肢康复效果。

As the number of patients with upper-limb movement disorder increases year by year,a microtorque feedback adaptive coupling motion control upper-limb rehabilitation robot is designed in this paper. According to the requirements of upper-limb rehabilitation training,the mechanical structure is designed with the analysis of kinematics and dynamics. In addition,the strategy of microtorque feedback adaptive coupling motion control is researched;the initiative motion consciousness of patients and their recovered movement ability is used to perform the real-time feedback adaptive coupling motion control. Finally,the expected target is achieved by the experimental validation;and this motion control method could further improve the upper-limb rehabilitation effect.