机器人辅助上肢抗阻运动控制与临床实验研究

摘要

针对机器人辅助患肢肌力增强渐进抗阻训练过程中阻力不能随患肢病情进行实时调整的问题,用一种新的模糊自适应阻抗力监督控制方法设计了一个机器人辅助上肢抗阻运动控制系统.该系统依据这种新的控制方法首先对患肢肌力恢复水平进行评估并据此设计机器人上层渐进抗阻基础阻力模糊规划器,得到每个训练周期的基础阻力,再通过设计的机器人下层模糊自适应阻抗力控制器,在基础阻力确定的基础上,根据患肢抗阻训练过程中肌力的变化对患肢与机器人末端之间的相互作用力做进一步的调整.运用Barrett公司4自由度机器人WAM Arm构建的临床康复实验系统平台,验证了该系统的算法的有效性.%A robot-assisted upper-limb anti-resistance movement control system was designed using a new fuzzy adaptive impedance force supervisory control method to solve the problem that the resistive force can not be real-time regulated with the recovery level of the impaired limb' s muscle strength in progressive anti-resistance training. The system uses a high-level initial resistive force fuzzy regulator to obtain the initial resistive force for each training process based on the evaluation of the impaired limb' s recovery level, and then uses its fuzzy adaptive impedance force controller to further adjust the interactive force between the robot and the impaired limb. The clinical experiment was conducted on the Barrett four degree of freedom WAM Arm and the results verify the effectiveness and potentialities of the systems control strategy.