文章摘要

文章信息/Info

Title:: Autonomous interactive control method for lower limb rehabilitation training robot

Author(s):: ZHANG Zhen; YIN Zhijing; LIU Xiaoning ; FENG Jiaojiao; CUI Lu; Medical Engineering Department , Strategic Support Force Characteristic Medical Center，Beijing 100101，China

Keywords:: Lower limb rehabilitation; Training robot; Autonomous interactive control; Feedback adjustment; Attitude parameters; Dynamic matching

摘要:: 为了提高下肢康复训练机器人康复训练和行走辅助控制中自主交互控制的稳定性，提出一种基于单输出自适应前馈调节的下肢康复训练机器人康复训练和行走辅助控制位姿修正自主交互控制方法。采用分布式传感器阻力力学采集方法进行下肢康复训练机器人的行为姿态参数采集，结合环境物理参数和机器人的位姿参数进行动态匹配和自动参量调节，采用模糊约束控制方法进行机器人的位姿参数调整，在行为学空间内实现机器人的位姿修正和动态稳定性控制。仿真结果表明，采用该方法进行下肢康复训练机器人自主交互控制的输出稳定性较好，环境适应能力较强，提高了下肢康复训练机器人的行走辅助控制能力。

Abstract:: In order to improve the stability of autonomous interactive control in rehabilitation training and walking assistant control of lower extremity rehabilitation training robot, an autonomous interactive control method based on single output adaptive feedforward regulation for rehabilitation training and walking assistant control of lower extremity rehabilitation training robot was proposed. Distributed sensor resistance mechanics acquisition method was used to collect the behavior and attitude parameters of the lower limb rehabilitation training robot. Dynamic matching and automatic parameter adjustment were carried out by combining environmental physical parameters,robot position and attitude parameters. Fuzzy constraint control method was used to adjust the position and attitude parameters of the robot. The position and attitude correction and dynamic stability control of the robot were realized in the behavior space. The simulation results show that the output stability of the autonomous interactive control of the lower extremity rehabilitation training robot used this method is good, and the environment adaptability is strong, which improves the walking assistant control ability of the lower extremity rehabilitation training robot.