基于阻抗模型的骨科康复辅助护理机器人控制系统

Control system of orthopedics rehabilitation assistant Nursing Robot Based on impedance model

针对当前肢体障碍患者后期康复治疗存在的训练过程繁琐以及训练效率低的问题,设计出一款患者主动康复训练的下肢康复机器人。本设计基于位置的阻抗控制,为提高控制精度故采用PSO算法对系统进行优化,在考虑到患者的实际使用情况下,加入了基于患者病情的模糊自适应控制器以达到柔顺控制的目的。仿真结果表明,经过优化后的阻抗控制的稳定性和精度大大提高;实验结果表明,本设计实现了康复训练系统的柔顺控制,实验效果良好,因此,能够在保证安全性的基础上帮助患者主动进行康复训练。

Aiming at the problems of cumbersome training process and low training efficiency in the later rehabilitation treatment of patients with limb disorders,a lower limb rehabilitation robot is designed to help patients take the initiative in rehabilitation training.This design is based on position based impedance control and optimized by PSO algorithm.On this basis,a fuzzy adaptive controller based on patient condition is added to achieve the purpose of compliance control.Matlab software simulation results show that the stability and accuracy of the optimized impedance control are greatly improved;The experimental results show that this design realizes the compliance control of the rehabilitation training system,and the experimental effect is good.Therefore,it can help patients take the initiative in rehabilitation training on the basis of ensuring safety.