| 基于模糊阻抗控制的上肢康复机器人中接触力规划器的设计 |
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| 引用本文： | 王燕妮,朱宝彤,戴亚平.基于模糊阻抗控制的上肢康复机器人中接触力规划器的设计[J].北京理工大学学报,2015,35(8):805-809. |
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| 作者姓名： | 王燕妮 朱宝彤 戴亚平 |
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| 作者单位： | 北京理工大学自动化学院,北京,100081;中国科学院沈阳自动化所,辽宁,沈阳110016 |
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| 基金项目： | 长江学者和创新团队发展计划资助项目(IRT1208) |
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| 摘 要： | 在对脑卒中患者的上肢运动功能康复训练中,如何对患者施加最适合的接触力,是设计康复机器人的重要指标要求. 针对现有康复机器人的力规划器中,产生出来的接触力存在突变,对患者进行训练的舒适性方面存在不足的问题,提出一种连续渐变的接触力规划器,采用模糊控制与阻抗控制相结合的方法改进接触力突变的状况. 经过仿真和实验验证,本文采用的方法可以产生渐变的接触力,对于患者训练的安全性和舒适性有明显提高.
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| 关 键 词： | 模糊控制 阻抗控制 康复机器人 接触力 |
| 收稿时间： | 4/8/2014 12:00:00 AM |
Design for the Contact Force Planner in Upper Limb Rehabilitant Robot Based on Fuzzy Control and Impedance Control |
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| WANG Yan-ni,ZHU Bao-tong and DAI Ya-ping.Design for the Contact Force Planner in Upper Limb Rehabilitant Robot Based on Fuzzy Control and Impedance Control[J].Journal of Beijing Institute of Technology(Natural Science Edition),2015,35(8):805-809. |
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| Authors: | WANG Yan-ni ZHU Bao-tong and DAI Ya-ping |
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| Institution: | 1.School of Automation, Beijing Institute of Technology, Beijing 100081, China2.Shengyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China |
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| Abstract: | The most fitting force is crucial for stroke patients' upper limb by the rehabilitation robot to train. However, in the existed force planner, the contact force is too mutational to fit the training demand. A kind of force planner was proposed to generate the gradual changed force in this paper. The method combines fuzzy control and impedance control to improve the mutational force. Simulation and experiment results show that the adopted method can be confirmed safer and more comfortable. |
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| Keywords: | fuzzy control impedance control rehabilitation robot contact force |
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