北京生物醫(yī)學(xué)工程

基于伺服電機(jī)的上肢康復(fù)機(jī)器人力矩交互控制系統(tǒng)

Torque interactive control system of upper limb rehabilitation robot based on servo motor

作者：秦佳城張林靈董祺喻洪流

單位：上海理工大學(xué)康復(fù)工程與技術(shù)研究所（上海 200093）上海康復(fù)器械工程技術(shù)研究中心（上海 200093）民政部神經(jīng)功能信息與康復(fù)工程重點(diǎn)實(shí)驗(yàn)室（上海 200093）

關(guān)鍵詞：運(yùn)動(dòng)意圖識(shí)別；力矩控制；主動(dòng)訓(xùn)練；直流伺服電機(jī)

分類號(hào)：R318.01

出版年·卷·期（頁碼）：2019·38·1（75-81）

摘要：

目的為了實(shí)現(xiàn)上肢康復(fù)機(jī)器人主動(dòng)訓(xùn)練中力矩控制的精確性，設(shè)計(jì)一種基于伺服電機(jī)的上肢康復(fù)機(jī)器人力矩交互控制系統(tǒng)。方法首先利用三自由度中央驅(qū)動(dòng)式上肢康復(fù)機(jī)器人實(shí)驗(yàn)平臺(tái)建立由運(yùn)動(dòng)意圖采集模塊和伺服力矩控制模塊組成的力矩交互系統(tǒng)；再通過建立上肢動(dòng)力學(xué)模型提出上肢助力訓(xùn)練算法；最后通過力矩響應(yīng)實(shí)驗(yàn)、運(yùn)動(dòng)意圖檢測實(shí)驗(yàn)。結(jié)果依據(jù)在一定電流輸入范圍內(nèi)，輸出力矩能夠保持穩(wěn)定，驗(yàn)證了基于直流伺服電機(jī)實(shí)現(xiàn)助力訓(xùn)練方法的可行性。采用伺服力矩控制模塊在目標(biāo)力矩設(shè)定后，輸出力矩在1 ms時(shí)間內(nèi)能夠達(dá)到設(shè)定的目標(biāo)值并能夠保持穩(wěn)定，目標(biāo)力矩響應(yīng)的實(shí)時(shí)性良好，由此可以得出力矩交互控制方法達(dá)到了人機(jī)力矩交互穩(wěn)定的結(jié)果。結(jié)論采用上肢康復(fù)機(jī)器人力矩交互控制方法可以在主動(dòng)訓(xùn)練中實(shí)現(xiàn)較為精確的力矩控制。

Objective In order to realize the accuracy of torque control in active training of upper limb rehabilitation robot, a torque interactive control system of upper limb rehabilitation robot based on servo motor is designed.. Methods The torque interaction system is composed of motion intention acquisition module and servo torque control module is established by using the experimental platform of three-DOF central drive upper limb rehabilitation robot.Then through the establishment of upper limb dynamics model, the upper limb booster training algorithm is designed.Finally, the experiment of moment response experiment and motion intention detection is adopted. Results Based on a range of current input, the output torque can be maintained stably, and the feasibility of realizing the booster training method based on DC servo motor is verified, and the servo torque control module can achieve the set target value and maintain stability in 1ms time after the target torque is set, and the target torque response is in good real time. It can be concluded that the torque interaction control method achieves the result of the interaction stability of the man-machine moment. Conclusions The torque interaction control method of upper limb rehabilitation robot can be used to realize more accurate torque control in active training.

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