【摘要】 以穿戴上肢康复机械臂(RUPERT)的人体手臂为研究对象,对被控对象建立数学模型,推导鲁棒控制器,基于sim Mechanics建立仿真模型,实现上肢康复机械臂鲁棒控制系统。考虑到上肢康复机械臂是辅助上肢偏瘫患者进行康复训练并最大限度地诱发患肢的主动作用,控制器中加入上肢偏瘫患者的主动作用,在MATLAB/Simulink的环境下运行。仿真结果表明,控制器能适应各种损伤程度的患者,在存在信号传输时延时,仍能保持响应速度和精度,具有很强的鲁棒性和自适应性。更多还原

【Abstract】 The integrated human arm with Robotic Assisted Upper Extremity Repetitive Therapy(RUPERT^TM), a wearable exoskeletal robot for upper-extremity stroke rehabilitation is the controlled plant.The forward simMechanics model, the mathematic model, and an interactive controller were presented.The functions of patients’ active joint torques were designed depending on the motion ability of their arms.The performance of the controller was tested by simulations.Results show that the controller can assist the plant model with time-delay in point-to-point movements.更多还原