摘要
随着我国脑卒中发病率呈现出爆发式增长的趋势,穿戴式手功能康复机器人引起了社会的广泛关注。为了实现基于柔性致动器的手功能康复机器人的自动康复训练控制,设计了控制系统的气动回路和控制电路。根据患者不同病情的康复需求,开发了包括被动、镜像两种训练模式在内的控制程序。为了评估所设计控制系统的性能,在两种训练模式下针对手功能康复机器人样机分别进行了系统测试。测试结果证明:所设计的控制系统能够快速有效地实现自动康复训练,具有较好的使用效果,可被应用在基于柔性致动器的手功能康复机器人实际的研发项目中。
With the incidence of cerebral stroke gradually showing an explosive growth trend in China,wearable hand rehabilitation robot has attracted extensive attention from the society. In order to realize the automatic rehabilitation training control of a hand rehabilitation robot based on flexible pneumatic actuator,the pneumatic and control circuits of the control system are designed. According to the rehabilitation needs of patients with different conditions,a control program including passive and mirror training modes is developed. To evaluate the performance of the designed control system,prototyping testing of hand rehabilitation robot is performed respectively in two training modes.Finally,the test results show that the control system can achieve the automatic rehabilitation training quickly and effectively,having satisfied application effects. The designed control system can be utilized in practical R&D projects.
作者
杨濛
卞永明
张圣良
季鹏成
YANG Meng;BIAN Yongming;ZHANG Shengliang;JI Pengcheng(Department of Control Science and Engineering,Tongji University,Shanghai 201804,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,Zhejiang,China;School of Mechanical Engineering,Tongji University,Shanghai 201804,China;Shanghai Jihu Robotics Co.,Ltd.,Shanghai 200092,China)
出处
《中国工程机械学报》
北大核心
2021年第5期425-429,共5页
Chinese Journal of Construction Machinery
基金
国家重点研发计划资助项目(2016YFC0802900,2017YFE0100900)
国家自然科学基金资助项目(71871160)
国家博士后创新人才支持计划资助项目(BX20190242)
上海市杨浦区博士后创新实践基地科研项目
上海市“科技创新行动计划”社会发展科技领域项目(19DZ1206800)
上海市人工智能创新发展项目(2019-RGZN-01024)
流体动力与机电系统国家重点实验室开放基金课题资助(GZKF-202017)。
关键词
柔性致动器
手功能
康复机器人
控制系统
flexible pneumatic actuator
hand function
rehabilitation robot
control system
