基于伺服电机的上肢康复机器人力矩交互控制系统
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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.
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.
引文
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[15]吴晟,梁津津,刘宁.一种微弱信号测量的宽频带低噪声差分放大电路:CN204156823U[P]. 2017-07-21.
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[17] Guo LY,JI LH. Relation between patients’active force and effect of robotic therapy for rehabilitation[C]//Proceeding of the 27th conference on Engineering in Medicine and Biology Society.Shanghai International Convention Center,2005:6840-6843.
[2]林晓斐.中国居民营养与慢性病状况报告(2015年)[J].中医药管理杂志,2015(13):89-89.Lin XF. Report on the status of nutrition and chronic diseases of Chinese residents(2015)[J]. Journal of Traditional Chinese Medicine Management,2015(13):89-89.
[3]杨启志,曹电锋,赵金海.上肢康复机器人研究现状的分析[J].机器人,2013,35(5):630-641.Yang QZ,Cao DF,Zhao JH. Analysis on state of the art of upper limb rehabilitation robots[J]. Robot,2013,35(5):630-640.
[4]陈泽,李成求,张瑞雪,等.基于虚拟现实技术的三自由度主动式上肢康复机器人研究[J].机器人技术与应用,2016(1):27-31.
[5]蔡伦,刘泰.脑卒中后运动再学习法康复治疗研究撮要[J].中国中医药信息杂志,2008,15(2):101-102.
[6] Artemiadis PK,Kyriakopoulos KJ. Estimating arm motion and force using EMG signals:on the control of exoskeletons[C]//IEEE. International Conference on Intelligent Robots and Systems. Nice,France:Acropolis Convention Center,2008:279-284.
[7]黄和妙,王善坡,李德军.磁粉离合器工作机理的探讨[J].山东工业大学学报,1995,25(3):207-213.
[8] Kiguchi K,Kose Y,Hayashi Y. Task-oriented perception-assist for an upper-limb powerassist exoskeleton robot[C]//IEEE.World Automation Congress.Kobe,Japan:International conference Center,2010:1-6.
[9]杨勇.直流无刷伺服电机[J].消费电子,2014(20):57.
[10] Taghirad HD,Belanger PR. Intelligent built-in torque sensor for harmonic drive systems[J]. IEEE Transactions on Instrumentation&Measurement,2002,48(6):1201-1207.
[11]陈阳生,林友仰,陶志鹏.无刷直流电机力矩的解析计算[J].中国电机工程学报,1995,15(4):253-260.Chen YS,Lin YY,Tao ZP. Calculation of torque in brushless DC Motor[J]. Proceedings of the CSEE,1995,15(4):253-260.
[12]王晓琳.钻头齿圈复合运动破岩试验测试硬件系统:CN,CN103090911 A[P]. 2013-05-08.
[13] Wang CX,Yang RQ,Wang YZ,et al. Research on a precision tension control system with a magnetic particle clutch as the actuator[J]. The International Journal of Advanced Manufacturing Technology,2005,27(1):7-13.
[14] Wu CJ,Si GQ,Zhang YB,Ningning Yang. The fractional-order state-space averaging modeling of the Buck-Boost DC/DC converter in discontinuous conduction mode and the performance analysis[J].Nonlinear Dynamics,2015,79(1):689-703.
[15]吴晟,梁津津,刘宁.一种微弱信号测量的宽频带低噪声差分放大电路:CN204156823U[P]. 2017-07-21.
[16]李妍姝,王生泽.上肢康复机器人运动学分析与康复运动规划[J].机械传动,2012(7):34-38.
[17] Guo LY,JI LH. Relation between patients’active force and effect of robotic therapy for rehabilitation[C]//Proceeding of the 27th conference on Engineering in Medicine and Biology Society.Shanghai International Convention Center,2005:6840-6843.