抗阻式颈部康复机器人系统设计

Design of resistance neck rehabilitation robot system

已有颈部康复设备负载精度差且负载调节时间长,为此基于抗阻康复训练治疗理论设计新的颈部康复机器人系统.设计机械结构,使电机输出的拉力转换成颈部的抗阻负载.将控制系统分为控制模块与算法模块,提高系统的流畅性和稳定性.利用磁场定向控制算法实现电机力矩的精准控制,为颈部康复训练提供稳定可控的拉力.设置拉力传感器和姿态陀螺仪传感器,防止使用者头颈部姿态错误或未知事故.统计10名受试者使用所设计系统进行颈部康复训练的评估参数,并对统计结果进行分析.仿真测试显示,磁场定向控制算法能够提高负载精度并缩短调节时间;负载测试与仿真测试结果的一致性验证了控制方案的可行性.系统性能测试表明,所设计的颈部康复机器人的拉力控制误差不超过0.59 N,响应速度为0.53 s,达到临床使用标准.

A new neck rehabilitation robot system was designed based on the theory of resistance rehabilitation training,as the existing rehabilitation devices with poor load accuracy and long load adjustment time.The newly designed mechanical structure converted the motor output tension into a neck resistance load,and the control system was divided into a control module and an algorithmic module to improve the system’s fluidity and stability.The magnetic field-oriented control algorithm was used to achieve precise control of the motor torque,providing a stable and controllable tension for neck rehabilitation training.Force sensors and posture gyroscopes were set up to prevent users form incorrect head and neck postures or unforeseen accidents.Assessment parameters of 10 subjects using the system for rehabilitation training were counted and the statistical results were analyzed.Simulation tests show that the magnetic field-oriented control algorithm improves the load accuracy and reduces the adjustment time.The consistency between the load testing results and the simulation results confirms the feasibility of the control scheme.The system performance tests indicated that the neck rehabilitation robot had a tension control error within 0.59 N and a response speed of 0.53 s,which meeting the standard for clinical use.