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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第11期    总第303期    2019年11月

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文章编号:1672-7207(2019)11-2753-10
并联踝康复机器人的系统搭建与运动控制策略
李剑锋,张子康,张雷雨,董明杰,左世平,张凯

(北京工业大学 机械工程与应用电子技术学院,北京,100124)

摘 要: 针对踝功能障碍患者,研制2-UPS/RRR并联踝康复机器人,协助患者进行踝关节背伸/趾屈、内翻/外翻及内收/外展运动康复训练。踝康复机器人系统包含机器人机械本体、驱动电机、编码器和力/矩传感器、上位机和下位机的软硬件等,具有踝关节力/位置信息检测与主/被动康复训练功能。通过建立踝康复机器人的运动学模型,计算电机驱动速度与机器人动平台角速度的映射关系,并根据患者踝关节肌力等级与训练需要,规划康复训练的运动轨迹,进行踝关节被动康复训练。基于力/矩传感器的信息检测,对患者踝关节进行运动意图识别,实现由运动意图驱动的机器人控制即主动康复训练。最后,针对踝关节的3种典型运动方式,遴选健康的受试者分别进行主/被动康复训练实验。研究结果表明:研制的并联踝康复机器人具有完善的康复训练策略和良好的运动稳定性。

 

关键词: 踝康复;主动康复;被动康复;人机交互;力位信息

Development of parallel ankle rehabilitation robot and motion control strategy
LI Jianfeng, ZHANG Zikang, ZHANG Leiyu, DONG Mingjie, ZUO Shiping, ZHANG Kai

School of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

Abstract:A 2-UPS/RRR parallel ankle rehabilitation robot was proposed for ankle dysfunction patients to assist the ankle joint during plantarflexion/dorsiflexion, inversion/eversion and adduction/abduction rehabilitation training. The ankle rehabilitation robot system contains mechanical body, driving motor, encoder and force/torque sensor, software and hardware of host computer and slave computer, and possesses the functions of dynamic information detection and active/passive rehabilitation training. According to the kinematic model of the ankle rehabilitation robot, the mapping relationship between the actuator drive speed and the angular velocity was obtained. Based on the ankle strength level and training requirements of the patients, the rehabilitation trajectory was planned and the passive training was performed. The ankle motion intention of patients was recognized based on the information of force/torque sensors. The rehabilitation robot was controlled by the motion intention and the active rehabilitation training was carried out. Furthermore, eight healthy subjects were enrolled to participate in the active/passive training experiments for three different movement modes. The results show that the ankle rehabilitation robot possesses a compatible rehabilitation strategy and favorable movement stability.

 

Key words: ankle rehabilitation; active rehabilitation; passive rehabilitation; human-machine interaction; force and position information

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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