一种基于六自由度机械臂的柔性踝关节康复机器人系统

IF 5.9 2区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY
Li Jin , Liuyi Ling , Chengjun Wang , Yiming Liu
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引用次数: 0

摘要

为了解决传统踝关节康复机器人在准确性、安全性和定量评估方面的局限性,本研究提出了一种基于机器人手臂的集成顺应性控制的新型系统。方法采用串联六自由度机械臂设计了一种新型机器人系统。通过将踝关节中心(AJC)定义为内踝和外踝之间的中点,通过一种新的对齐精度度量来验证机器人旋转中心(RRC)与AJC的动态重合坐标变换方法。设计了一种基于6轴力/扭矩(F/T)传感器的实时重力补偿算法,用于量化踝关节扭矩。测量到的扭矩被映射到修正Ashworth量表(MAS)标准,以实现定量的肌肉张力评估,提高了人工评估的客观性。基于准入控制策略,设计了患者-被动训练、患者-主动训练和阻力训练三种顺应性康复训练模式,同时支持多轴顺应性训练。结果5个被试的实验结果表明,所设计的训练模式在依从性和轨迹跟踪方面都取得了良好的效果。通过动作捕捉系统验证,三种训练模式的对准精度均小于1.59 mm。该系统成功记录并分类了表明不同肌肉张力水平的扭矩曲线。结论高精度传感与自适应控制的融合为踝关节康复提供了标准化的测量平台,促进了机器人系统向临床的转化。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A novel compliant ankle rehabilitation robotic system based on a 6-DOF robot arm

Background

To address the limitations of conventional ankle rehabilitation robots in accuracy, safety, and quantitative assessment, this study proposes a novel robot arm-based system integrating compliance control.

Methods

We developed a novel robotic system using a serial 6-degree-of-freedom (6-DOF) robot arm. By defining the ankle joint center (AJC) as the midpoint between the medial and lateral malleolus, a coordinate transformation method dynamically coincides the robotic rotational center (RRC) with the AJC, validated through a novel alignment accuracy metric. A real-time gravity compensation algorithm based on a 6-axis force/torque (F/T) sensor was designed to quantify ankle joint torques. The measured torques were mapped to Modified Ashworth Scale (MAS) criteria to enable quantitative muscle tension assessment, improving objectivity over manual evaluations. Three compliance rehabilitation training modes, namely patient-passive training, patient-active training, and resistance training, are designed based on the admittance control strategy, which also support simultaneous multi-axis compliance training.

Results

The experimental results on five subjects show that the designed training modes performed well in terms of compliance and trajectory tracking. The alignment accuracy for all three training modes was less than 1.59 mm, as validated by a motion capture system. The system successfully recorded and classified torque profiles indicative of different levels of muscle tension.

Conclusion

The integration of high-precision sensing and adaptive control provides a standardized measurement platform for ankle rehabilitation, promoting the translation of robotic systems into clinical practice.
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来源期刊
Ain Shams Engineering Journal
Ain Shams Engineering Journal Engineering-General Engineering
CiteScore
10.80
自引率
13.30%
发文量
441
审稿时长
49 weeks
期刊介绍: in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.
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