【摘要】 手臂康复机器人是一种用于因偏瘫、外伤等造成手臂运动障碍患者的辅助康复训练机器人,考虑到患者训练的安全性和舒适性,需要机器人有一定的柔顺性.对此,在控制模型中引入阻抗控制.建立并分析了手臂肌力训练模式目标阻抗控制模型,在此基础上进行了简化.建立了基于dSPACE实时仿真平台的半物理仿真实验系统,以回转关节为例,给出了不同控制参数下的力与关节角度曲线,分析了控制参数对控制效果的影响,结果表明控制模型的可行性和有效性.更多还原

【Abstract】 Arm rehabilitation robots are used to assist patients with arm movement disorders due to hemiplegia or injury.These robots must be able to comply with a patient’s need for safety and comfort,meaning that forces applied by the robot must not exceed those tolerated by the patient.To this end,we incorporated impedance control in our robot control model.An impedance control model for a muscular strength training mode is proposed,analysed and simplified.A hybrid simulation system for the arm rehabilitation robot was established on the dSPACE real-time simulation platform.Experimental research is presented on the robot’s revolute joints.The curves of force versus joint angles with different control parameters are given.The influence of various control parameters on the results are analysed,proving the feasibility and validity of this control model.更多还原