基于人体姿态信息的下肢康复机器人运动控制技术

Motion Control Technology of Lower Limb Rehabilitation Robot Based on Human Posture Information

关键词:  康复机器人  运动数据采集  运动学建模  模糊PID算法  运动控制

Key words:  rehabilitation robot  motion data acquisition  kinematics modeling  fuzzy PID algorithm  motion control

摘要:

针对下肢运动功能障碍患者术后康复训练辅助设备的跟随控制问题，本研究提出一种基于人体姿态信息的下肢康复机器人运动控制方法。根据康复机器人的结构特性和功能要求，建立机器人运动数据信息采集系统和下肢康复机器人的运动学模型；构建机器人平台上的人体姿态行为信息采集传感器系统，通过分析位移传感器所采集的数据，得到表征人体姿态行为变化的相关信息，经上位机计算生成康复机器人的期望跟随速度；同时，基于模糊PID控制算法设计了跟随控制器。通过仿真和实验验证该控制算法能够有效减小机器人实时跟踪使用者运动过程中的误差，实现康复机器人对人体运动姿态良好的跟随效果。

Abstract:

In order to solve the following control problem of intelligent auxiliary equipment for postoperative rehabilitation training of patients with lower limb motor dysfunction,a motion control method of lower limb rehabilitation robot based on human posture information was proposed.According to the structural characteristics and functional requirements of rehabilitation robots,the motion data acquisition system and kinematics model of lower limb rehabilitation robot were established.The human behavior information acquisition sensor system on the robot platform was constructed.By analyzing the data collected by the displacement sensor,the relevant information representing the change of human posture behavior was obtained.The expected following speed of the rehabilitation robot was calculated by the upper computer.The tracking controller was designed based on fuzzy PID control algorithm.It is verified through simulation and experiment that the control algorithm can effectively reduce the error of the robot in real-time tracking the user's movement,and achieve a good follow-up effect of the rehabilitation robot on the human motion posture.