康复机器人的同步主动交互控制与实现

提出了一种适用于康复机器人的人机交互控制方法. 结合一款具有平面并联结构的上肢康复机器人, 实现了与用户(患者)运动意图同步的、柔顺的主动康复训练. 在训练中, 利用自适应频率振荡器, 从表面肌电信号(Surface electromyography, sEMG)中获取运动模式信息, 然后结合运动模式和期望的正常运动轨迹, 生成与主动运动意图同步的参考训练轨迹. 本文通过仿真和实际实验对所提出的方法进行了验证, 振荡器可以在2~5s内快速实现与用户主动运动意图的同步, 然后利用阻抗控制器给予柔顺的辅助. 通过调节阻抗参数, 可以为患者的运动训练提供不同程度的辅助.

Synchronous Active Interaction Control and Its Implementation for a Rehabilitation Robot

This paper proposes a novel human-robot interaction control method for rehabilitation robots. Based on an upper-limb rehabilitation robot, active training is realized, which is compliant, and can synchronize with the human motion intention. During the training, the user's motion pattern information is detected by the adaptive frequency oscillator, then a synchronous reference training trajectory is generated by combining the pattern information with normal trajectory features. The implementation of this method is described at the end of this paper, where the adaptive frequency oscillator can synchronize with surface electromyography (sEMG) within 2~5s, and an impedance controller provides compliant assistance. By simply adjusting the impedance parameters, different assistance levels can be achieved.