北京生物医学工程

基于伺服电机的上肢康复机器人力矩交互控制系统

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

作者：秦佳城张林灵董祺喻洪流

单位：上海理工大学康复工程与技术研究所（上海 200093）上海康复器械工程技术研究中心（上海 200093）民政部神经功能信息与康复工程重点实验室（上海 200093）

关键词：运动意图识别；力矩控制；主动训练；直流伺服电机

分类号：R318.01

出版年·卷·期（页码）：2019·38·1（75-81）

摘要：

目的为了实现上肢康复机器人主动训练中力矩控制的精确性，设计一种基于伺服电机的上肢康复机器人力矩交互控制系统。方法首先利用三自由度中央驱动式上肢康复机器人实验平台建立由运动意图采集模块和伺服力矩控制模块组成的力矩交互系统；再通过建立上肢动力学模型提出上肢助力训练算法；最后通过力矩响应实验、运动意图检测实验。结果依据在一定电流输入范围内，输出力矩能够保持稳定，验证了基于直流伺服电机实现助力训练方法的可行性。采用伺服力矩控制模块在目标力矩设定后，输出力矩在1 ms时间内能够达到设定的目标值并能够保持稳定，目标力矩响应的实时性良好，由此可以得出力矩交互控制方法达到了人机力矩交互稳定的结果。结论采用上肢康复机器人力矩交互控制方法可以在主动训练中实现较为精确的力矩控制。

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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