一种新的腿部康复机器人阻抗控制结构

A. Mirzaei, S. Ozgoli
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引用次数: 6

摘要

步态康复机器人是一种重要的、有用的机器协作机器人,它可以对中风或截瘫等疾病影响的肢体进行操作,使其正常工作。所采用的控制算法应具有良好的灵活性和安全性,以保证物理治疗的有效性和舒适性。阻抗控制算法就是能够满足这种灵活性的算法之一。本研究将一种新的改进阻抗控制结构应用于康复机器人。提出了一种新的构型,其中也考虑了地面法向力。此外,这种新结构还降低了逆动力学的复杂性。该阻抗控制结构的稳定性范围优于其他同类工程,对物理治疗师具有重要的参考价值。仿真结果表明,该系统具有良好的柔性和可跟踪髋关节和膝关节角度的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A new impedance control structure for leg Rehabilitation Robot
Gait Rehabilitation Robot is an important and useful machine collaboration robot, which can operate the limbs that affected by a stroke or disorder like paraplegic to improve their normal operation. The control algorithms that are applied to set up should have good flexibility and safety to guarantee the effectiveness and comfort of the physiotherapies. The impedance control algorithm is one of these algorithms that can satisfy this flexibility. In this study a new improved impedance control structure is applied to rehabilitation robot. A new configuration is proposed in which the ground normal force is also taken into account. Moreover by means of this new structure the inverse dynamic's complexity is reduced. In this impedance control structure the stability's range is better than other similar works, and it is very important and useful result for physiotherapists. Via simulation and the results show good flexibility and tracking both hip and knee angle behavior.
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