卧式下肢康复机器人主动柔顺控制实验研究

摘要

To ensure training safety and comfort of the patients with dysfunction in lower limbs, an impedance controller was designed based on force feedback for a rehabilitation robot. The controller can make the robot have a certain degree of flexibility by adjusting the relationship between the end actuator position and force. The control model of the system was established, and the experimental research on it was done based on the dSPACE plafform. The results showed that different stiffness and damping characteristics of the robot could be obtained by adjusting impedance parameters of the controller. And the effect of paraneters on rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of the affected limb' recovery, so that the rehabilitation process can not only meet clinical needs but also has the submissive nature.%为保证下肢运动功能障碍患者在康复训练中的安全性和舒适性,利用力反馈信息采用阻抗控制原理设计了康复机器人系统的控制器,通过调整末端位置与力之间的关系使机器人具有一定的柔顺性.建立了系统的控制模型,并在dSPACE平台上进行了实验研究.结果表明,通过调节控制器中的阻抗参数,可以使机器人获得不同的刚度特性和阻尼特性,同时分析了参数变化对康复训练的影响.在患肢康复的不同阶段,可通过调节该控制器参数,使康复过程既能满足临床需要又具有柔顺性.