摘要
末端牵引式的康复机器人在被动训练方面有较好效果,但其主动训练方式还不成熟,且传统的末端牵引式康复机器人自由度较少,在训练空间轨迹上有一定局限,难以模仿康复医师的训练。本文采用S-R-S(球副-转动副-球副)结构的7自由度拟人机器人作为末端康复训练设备,有效提高康复系统的空间运动能力;针对冗余机器人逆解问题,设计了肘部自运动约束的逆运动学解法;通过引入基于位置的分数阶阻抗控制,将人机交互的反馈力偏差转化为位置偏差同时提高系统跟随响应的能力。实验结果表明相较于整数阶阻抗控制器,分数阶阻抗控制器可减少机器人的冲击调节时间34.5%,有效提高人机接触稳定性。康复训练实验表明所提康复训练方法可帮助患者逐渐按照既定轨迹逐渐提高运动能力,轨迹偏差结果能更真实反应患者的康复情况,有利于准确进行康复效果评估。
The end-effector-based rehabilitation robot has good effect in passive training,however its active training mode is not mature.Traditional end-effector-based rehabilitation robot has less degrees of freedom,there is certain limitations in training space trajectory,and it is difficult to imitate the action of rehabilitation doctors.In this paper a 7-DOF humanoid robot with S-R-S(spherical pair-rotational pair-spherical pair)structure is adopted as the end-effector-based rehabilitation training device,which effectively improves the spatial motion ability of the rehabilitation system.Aiming at the inverse solution problem of redundant robot,the inverse kinematic solution based on elbow self-motion constraint is proposed.Through introducing the fractional impedance control based on position,the feedback force deviation in man-machine interaction is transformed to position deviation to improve the following response capability of the system.The experiment results show that compared with the integer order impedance controller,the fractional order impedance controller can reduce the impact adjustment time of the robot by 34.5%,and effectively improve the stability of human-machine contact.The rehabilitation training experiment shows that the rehabilitation training method proposed can help the patients gradually improve their exercise ability according to the settled trajectory,and the trajectory deviation results can truly reflect the rehabilitation situation of the patients,which is conducive to the accurate evaluation of the rehabilitation effect.
作者
陈盛
邰春
徐国政
高翔
Chen Sheng;Tai Chun;Xu Guozheng;Gao Xiang(College of Automation and Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第9期196-205,共10页
Chinese Journal of Scientific Instrument
基金
中国博士后科学基金(2019M651912)
江苏省自然科学基金青年项目(BK20170898)
江苏省重点实验室开放项目(TK219018)
南京邮电大学科研基金(NY218027)项目资助
关键词
康复机器人
分数阶阻抗控制
自运动约束
主动训练
rehabilitation robot
fractional impedance control
self-motion constraint
active training
作者简介
通信作者:陈盛,2007年于河海大学获得学士学位,2010、2015年分别于南京航空航天大学获得硕士、博士学位,现为南京邮电大学讲师,主要研究方向为机器人控制、康复机器人和精密测量。E-mail:chensheng@njupt.edu.cn;邰春,2014年于南京邮电大学通达学院获得学士学位,现为南京邮电大学在读硕士研究生,主要研究方向为康复机器人控制技术。E-mail:761508638@qq.com
