摘要
针对目前下肢康复机器人采用实时反馈控制的弊端,基于情感化设计理念提出一种根据偏瘫患者步态周期动态性生成反馈因子的康复控制策略方法。用该方法所构建的康复控制系统更符合偏瘫患者下肢行走节拍,对避免患者异常步态的产生具有良好效果,提升了患者的交互体验。这种根据偏瘫步态周期进行运动控制的方法对研究康复训练机器人的反馈控制算法具有一定的指导作用。
Aiming at the defect of real-time feedback control of current lower rehabilitation robot, a rehabilitation control strategy method that dynamically generated feedback factors was proposed according to gait cycle of hemiplegic patients based on emotional design concept. The rehabilitation control system established by this method could fit walking beats of hemiplegic patient, which had a good effect on avoiding abnormal gait of the patients, and greatly improved the interactive experience of the patients. This method of motion control based on gait cycle of hemiplegia had certain guiding effects on the research of feedback control algorithm of rehabilitation training robot.
作者
杨涛
白伊莎
戴福全
吴正仲
YANG Tao;BAI Yi-sha;DAI Fu-quan;WU Zheng-zhong(School of Design,Fujian University of Technology,Fuzhou 350108;School of Mechanical&Automotive Engineering,Fujian University of Technology,Fuzhou 350108)
出处
《机械设计》
CSCD
北大核心
2023年第1期135-140,共6页
Journal of Machine Design
基金
福建省社会科学基金资助项目(FJ2021B187)
福建工程学院科研启动基金资助项目(GY-S20089)
引进台湾高层次人才“百人计划”项目(GY-S21081)。
关键词
康复机器人
交互体验
步态周期
控制策略
情感化设计
rehabilitation robot
interactive experience
gait cycle
control strategy
emotional design
