上肢外骨骼式康复机器人控制系统研究

【作者】 刘杰；

【导师】 韩平畴；

【作者基本信息】 青岛大学 ， 信号与信息处理， 2012， 硕士

【摘要】 上肢外骨骼式康复机器人是一种用于偏瘫患者康复的医疗设备。本文主要对此康复机器人的控制系统进行深入的研究,使得其可以根据患者的病情以及周围的环境状况采取不同的控制策略,从而达到精准控制的目的。在传统阻抗控制方法基础上,结合迭代学习控制算法的优势提出了一种学习阻抗控制算法,其采用两个闭环的结构,算法简单,可以根据初始数据和在线周期检测得到的位置信号和力信号,运用广义回归模糊神经网络对目标输入参数进行快速实时的逆运动学运算,从而实现系统的快速自调整和精确控制。同时本文还对机器人驱动器人工气动肌腱的基本特性进行初步的分析,给出控制系统软件基本的软件框架,采用MRDS作为机器人控制平台。设计了给出了康复医疗模式的集中设定以及康复效果的定量评估,针对用户的不同体验,编写完成了模块化的控制软件以便康复医师使用,给出了一种机器人控制软件基本框架和基本硬件的构成。论文在理论研究的基础上,进行了大量的计算机仿真研究工作,并在外骨骼康复机器人实验平台上开展了大量的实验研究,还提出了下一步研究工作的方向和任务。更多还原

【Abstract】 The upper extremity exoskeleton repetitive therapy robot is one kind of medical device which uses in hemiparalysis patient being restored to health. This thesis mainly discuss the control system of this robot equipment, thus causes the therapy robot to be possible to adopt the corresponding control policy according to patient’s actual situation, thus achieves the accurate control the goal. Uniting the traditional impedance control method and iteration learning control algorithm, therefore proposed one kind of learning impedance control algorithm, this method makes up two closed loops structures, the algorithm simple. The position data and the strength data as the initial datum and the online cyclical examination obtain, the generalized return neural network to be the target input parameter carries on the kinematics the fast adjust. This thesis discusses static characteristic of PAM driver, and give the basic application framework to the robot control system. In this article, it take MRDS as the robot develop platform, designed medical recovery service pattern, in views of user experience, has completed the control software modular, so that the operators could use, has given one kind of robot control concrete software and the hardware realizes the form. The paper has carried on the computer simulation research work in fundamental research’s foundation, and has carried out the massive experimental study in the recovery robot control experiment platform, and further proposed the research direction and the duty.更多还原