Development of a Reconfigurable 7-DOF Upper Limb Rehabilitation Exoskeleton With Gravity Compensation Based on DMP

IF 3.4 Q2 ENGINEERING, BIOMEDICAL

IEEE transactions on medical robotics and bionics Pub Date : 2024-12-23 DOI:10.1109/TMRB.2024.3517157

Qingcong Wu;Linliang Zheng;Yanghui Zhu;Zihan Xu;Qiang Zhang;Hongtao Wu

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Abstract

With the development of society, the aging population and the number of stroke patients are increasing year by year. Rehabilitation exoskeletons can help patients carry out rehabilitation training and improve their activities of daily living. First, this paper designs a reconfigurable exoskeleton for upper limb rehabilitation. Second, the working space and singular configuration of the exoskeleton are analyzed. Then, Dynamic Movement Primitives (DMP) and sliding mode control are combined to form a new control strategy. Additionally, by changing the working mode of the gravity compensation device and different control methods, the control experiment of the exoskeleton is carried out. The advantages of sliding mode control under combinational reaching law (CRL-SMC) are verified. The influence of the gravity compensation device on motor driving torque and energy consumption is also analyzed. Finally, experimental results show that compared with sliding mode control under power reaching law (PRL-SMC) and PID control, CRL-SMC has better control performance in single joint trajectory tracking and end trajectory tracking, improving control performance by at least 60%. In the best case, the gravity compensation device can reduce the energy consumption by 81.90% and the maximum motor current by 69.25% of the driving element.

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基于DMP的可重构七自由度重力补偿上肢康复外骨骼的研制

随着社会的发展，人口老龄化和脑卒中患者数量逐年增加。康复外骨骼可以帮助患者进行康复训练，提高日常生活活动能力。首先，设计了一种用于上肢康复的可重构外骨骼。其次，分析了外骨骼的工作空间和奇异构型；然后，将动态运动原语（DMP）与滑模控制相结合，形成新的控制策略。此外，通过改变重力补偿装置的工作方式和不同的控制方法，对外骨骼进行了控制实验。验证了组合趋近律下滑模控制的优越性。分析了重力补偿装置对电机驱动转矩和能耗的影响。最后，实验结果表明，与功率趋近律滑模控制（PRL-SMC）和PID控制相比，CRL-SMC在单关节轨迹跟踪和末端轨迹跟踪方面具有更好的控制性能，控制性能提高至少60%。在最佳情况下，重力补偿装置可使驱动元件的能耗降低81.90%，最大电机电流降低69.25%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE transactions on medical robotics and bionics

CiteScore

6.80

自引率

0.00%

发文量