Zaixiang Pang, Xiaomeng Deng, Linan Gong, Danqiu Guo, Nan Wang, Ye Li
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引用次数: 0
Abstract
A four-degree-of-freedom upper limb exoskeleton rehabilitation robot system with a gravity compensation device is constructed. The objective is to address the rehabilitation training needs of patients with upper limb motor dysfunction. A BP neural network adaptive control method based on particle swarm optimization is proposed. First, the degrees of freedom of the human body are analyzed, and a Lagrange method is employed to construct a dynamic model. Second, a particle swarm optimization back propagation neural network adaptive control algorithm based on particle swarm optimization is presented. Subsequently, the range of motion of the upper limbs is analyzed with reference to muscle anatomy and a three-dimensional motion capture system. And the robot structure design is analyzed in detail. Finally, simulation experiments were conducted, and the results demonstrated that the proposed method exhibited high effectiveness and accuracy.
构建了一个带有重力补偿装置的四自由度上肢外骨骼康复机器人系统。该系统旨在满足上肢运动功能障碍患者的康复训练需求。提出了一种基于粒子群优化的 BP 神经网络自适应控制方法。首先,对人体的自由度进行分析,并采用拉格朗日方法构建动态模型。其次,提出了基于粒子群优化的粒子群优化反向传播神经网络自适应控制算法。随后,参照肌肉解剖学和三维运动捕捉系统分析了上肢的运动范围。并详细分析了机器人的结构设计。最后,进行了仿真实验,结果表明所提出的方法具有很高的有效性和准确性。
期刊介绍:
Electronics Letters is an internationally renowned peer-reviewed rapid-communication journal that publishes short original research papers every two weeks. Its broad and interdisciplinary scope covers the latest developments in all electronic engineering related fields including communication, biomedical, optical and device technologies. Electronics Letters also provides further insight into some of the latest developments through special features and interviews.
Scope
As a journal at the forefront of its field, Electronics Letters publishes papers covering all themes of electronic and electrical engineering. The major themes of the journal are listed below.
Antennas and Propagation
Biomedical and Bioinspired Technologies, Signal Processing and Applications
Control Engineering
Electromagnetism: Theory, Materials and Devices
Electronic Circuits and Systems
Image, Video and Vision Processing and Applications
Information, Computing and Communications
Instrumentation and Measurement
Microwave Technology
Optical Communications
Photonics and Opto-Electronics
Power Electronics, Energy and Sustainability
Radar, Sonar and Navigation
Semiconductor Technology
Signal Processing
MIMO