【摘要】 针对康复训练过程中机器人与患者之间的人机交互性问题，文中基于患者健肢刚度估计及映射的思想，提出一种具有个性化治疗特征的人机交互控制方法。基于健肢表面肌电信号和人机接触力信息，建立具有患者自身完成日常动作特征的上肢末端刚度估计模型。设计刚度映射算法，根据健肢末端刚度动态调整机器人阻抗控制参数，结合人机接触力反馈，实现康复训练机器人与患肢交互的柔顺控制。研究结果表明：所提出的人机交互控制方法通过模拟患者健肢运动特性的康复训练机器人带动患肢，使得康复训练动作更加符合个人发力习惯，也有利于双侧肢体的运动一致性，可为临床的康复训练提供设计思路和实现方法。更多还原

【Abstract】 In allusion to the problem of human-robot interaction between robot and patients in the process of rehabilitation training, a human-robot interaction control method with personalized treatment characteristics is proposed based on the idea of patient healthy limb stiffness estimation and mapping. Based on healthy limb surface electromyographic signal and human-robot contact force information, the upper limb end stiffness estimation model with the characteristics of patients completing daily actions is established. The stiffness mapping algorithm is designed, and the impedance control parameters of the robot are dynamically adjusted according to the stiffness of the end of the healthy limb. In combination of the human-robot contact force feedback, the compliance control of the interaction between the rehabilitation training robot and the affected limb is realized. The results show that the proposed human-robot interaction control method can make the affected limb driven by the rehabilitation training robot that simulates the motion characteristics of the patient’s healthy limb, making the rehabilitation training actions more in line with personal driving force habits and also conducive to the consistency of bilateral limb movements. It can provide design ideas and implementation methods for clinical rehabilitation training.更多还原