助行康复机器人控制策略研究
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摘要
人体步行是在神经系统和运动系统共同作用下达到的协调自主运动，是保证人类独立生活的必备条件。神经系统或运动系统出现问题，会导致人体行走障碍甚至失去步行能力，严重影响正常生活。脑血管病是神经系统最常见的疾病之一，现代研究证实，脑卒中患者神经功能损伤后，通过康复训练可使中枢神经系统完成结构重组和功能代偿，恢复肢体运动功能。人体运动系统会随着年龄的增大逐渐衰退，老年人将产生不同程度的运动机能障碍，需要提供腿部助力或身体支撑才能实现正常行走。助行康复机器人可以根据使用者的不同步行能力等级，对其提供相应的行走训练模式，实现助行康复训练的智能化，并为临床康复医生提供客观、准确的治疗和评价参数，保证训练的效率和强度。开发助行康复机器人，帮助偏瘫患者树立重新行走的信心，提高老年人独立生活的质量，具有重要的研究意义。
本文是在国家高技术发展计划（863计划）项目：多功能助行康复机器人（2008AA040203）的资助下，针对如何利用助行康复机器人，帮助偏瘫、截瘫等肢体残疾患者及体弱老年人提供康复训练和助行服务的问题，在人体步态信息检测及分析、助行康复训练人机系统运动规划、机器人被动协调控制策略、机器人助力协调控制策略等方面进行了较深入的理论分析和实验研究。
综述了国内外助行康复机器人及相关领域的研究现状，在对现有康复机器人的工作原理、机械结构、康复策略分析和比较的基础上，依据人体步行运动机理，提出了一种基于双曲柄机构实现行走步态控制的助行康复机器人机构方案，设计了机器人的控制方案。该机器人可针对使用者的不同步行能力等级提供相应的行走训练策略，帮助脑卒中患者重新获得步行功能，为体弱老年人提供行走助力。
设计了人体步态信息测量系统，对正常人平地行走的步态信息进行了测量。研究了身体重心的前进速度与下肢关节角度、角速度的运动特征关系，建立了人体步态信息的数学模型。根据人体生理学运动信息，对双曲柄助行机构进行了尺寸优化；提出了一种适用于双曲柄助行机构的步态规划模型，实现了对支撑期和摆动期步态的合理控制。基于身体重心运动信息建立了移动单元速度规划模型，规划模型符合人体重心运动规律。利用MATLAB软件进行了仿真分析，验证了助行康复训练运动规划符合正常行走步态特征，机器人可以帮助使用者在不同步速下实现连续稳定的行走。
基于运动规划模型对机器人系统进行了控制策略的研究。提出了一种助行康复机器人被动协调控制策略，用于对步行能力低于3级的使用者进行被动行走训练。分别对两个运动单元进行了伺服控制研究。利用动力学矩阵数学模型和拉格朗日方法分别建立了助行单元动力学模型、人体下肢动力学模型及人机系统动力学模型；设计了助行单元鲁棒控制器和移动单元交叉耦合鲁棒控制器；利用Lyapunov方法进行了控制系统的稳定性分析。对各运动单元的控制特性和机器人系统的协调控制特性进行了仿真研究。
提出了一种机器人助力协调控制策略，用于对步行能力高于3级的使用者进行助力行走训练。分别对移动单元力伺服控制、减重单元力伺服控制及人机系统助力协调控制进行了研究。建立了移动单元动力学模型及人机系统动力学模型，通过分析系统特性设计了前馈–反馈复合控制器；针对两轮受力不均导致的移动单元转弯现象，设计了模糊控制器对驱动力矩进行调整，实现控制机器人整体的协调运动。设计了基于使用者的加速度进行恒质量减重的力闭环控制器，保证使用者助力行走过程中下肢承受动态载荷。进行了各运动单元力控制及机器人系统助力行走协调控制的仿真研究。
研制了助行康复机器人实验样机，介绍了实验系统各部分的构成及功能。利用dSPACE平台进行了相关的实验研究，包括移动单元并行控制实验、移动单元交叉耦合控制实验、助行单元功能及鲁棒控制实验、机器人协调控制实验及真人使用实验。实验研究验证了机器人机构的合理性，控制系统的稳定性及各种控制策略的可行性，机器人可以对真人实现辅助行走训练功能。
Human walking is a coordination and voluntary movement in the control of nervoussystem and motor system. It is essential to ensure independent living conditions for mankind.Nervous system or motion system problems will lead to walking obstacles and even loss ofhuman walking ability, which seriously affects the normal life. Cerebrovascular disease is oneof the most common neurological diseases. Modern studies confirm that, throughrehabilitation training, stroke patients with neurological injury can complete the restructuringof the central nervous system and functional compensation, motion function can also restore.As the human motion system will gradually decline with increasing age, older people willhave different degrees of movement dysfunction, which needs body support or legspower-assisted to help achieve normal walking. Walking assistance rehabilitation robot canprovide appropriate training mode to users according to the users’ different levels of ability,which will realize the rehabilitation walking intelligent. The robot can also provide objective,accurate treatment and evaluation parameters for clinical rehabilitation physicians to ensurethe training efficiency and strength. The development of walking assistance rehabilitationrobot has important significance on helping stroke patients re-establish the confidence to walkand improving the quality of the elderly to live independently.
The research work comes from a project funded by National High Technology Researchand Development Program (863Program), which is “Research on Multi-walkingrehabilitation robot (2008AA040203)”. The main objective is to provide rehabilitationtraining and walking services to hemiplegia, paraplegia physically disabled patients and frailelderly. The detailed theoretical analysis and experimental research are carried out includingthe detection and analysis of human gait, man-machine system rehabilitation motion planning,coordination control strategy of robot passive training and coordination control strategy ofrobot power-assisted training.
Research status of walking assistance rehabilitation robot and related fields areoverviewed at home and abroad. Based on analyzing and comparing the existed rehabilitationrobots’ machines, working principles and control strategies, a kind of machine scheme ofwalking assistance rehabilitation robot is proposed and the robot’s control scheme is designed.The robot can provide appropriate walking training strategies to users according to theirwalking ability, and it can help stroke patients regain walking function and provide walkingpower to the frail elderly.
Gait information measurement system is designed to measure the normal ground walkinggait information. The characteristics of the body gravity center’s speed, the lower limb joints’angle and angular velocity are analyzed. Mathematical model of human gait information is set up. The structure size optimization of walking assistance mechanism is finished according tohuman physiology motion information. A gait planning model is proposed for double-crankwalking assistance mechanism, which can control the stance phase and swing phase of gaitreasonably. A speed planning model of mobile platform is established based on the bodyweight movement information and the model is fit for the gravity of human body centermotion characteristics. The simulation analysis is carried out by using MATLAB software.The results show that motion planning fits for characteristics the normal walking gait, and therobot can help the person to achieve a continuous and steady walking.
Based on the mathematical model of human gait information, the passive coordinationcontrol strategy is proposed for people whose walking ability is under the3level. Theclosed-loop control strategies of the two units were studied. Dynamic models of walkingassistance unit, human lower limbs and man-machine are established using dynamic matrixmathematical model and Lagrange method. Walking assistance unit robust controller andmobile platform cross-coupling synchronization controller are designed. Using Lyapunovmethod, stability analysis of robot control system is made. The simulation study of each unit’scharacteristics and coordination of robot system are finished.
The power-assisted coordination control strategy is proposed for people whose walkingability is over the3level. The force closed-loop control strategies of mobile platform, thebody support mechanism, and man-machine system are studied. Dynamic models of mobileplatform and man-machine system are established. Feedforward and feedback controller isdesigned according to the analysis of the system’s characteristics. Fuzzy controller is designedfor phenomenon of the mobile platform turn which is caused by the uneven force of the twowheels. Constant quality body weight supported force controller based on the user’sacceleration is proposed, which will help the user bear the mutative loads. The fuzzycontroller can realize the coordinated control of the robot. Simulation of each unit forcecontrol and robot power-assisted coordinated control are researched.
Experimental prototype of walking assistance rehabilitation robot is developed. Thecomponents and function of experimental system are described. Base on the dSPACEreal-time system, experimental study is completed which mainly include the mobile platformparallel control, mobile platform cross-coupling synchronization control, the walkingassistance unit function and robust control, the robot coordination control, the real use ofexperiment and so on. The experimental research verifies the rationality of walking assistancerobot model, the stability of robot control system and the feasibility of various controlstrategies. The robot can achieve the real walking training fucntion.
本文是在国家高技术发展计划（863计划）项目：多功能助行康复机器人（2008AA040203）的资助下，针对如何利用助行康复机器人，帮助偏瘫、截瘫等肢体残疾患者及体弱老年人提供康复训练和助行服务的问题，在人体步态信息检测及分析、助行康复训练人机系统运动规划、机器人被动协调控制策略、机器人助力协调控制策略等方面进行了较深入的理论分析和实验研究。
综述了国内外助行康复机器人及相关领域的研究现状，在对现有康复机器人的工作原理、机械结构、康复策略分析和比较的基础上，依据人体步行运动机理，提出了一种基于双曲柄机构实现行走步态控制的助行康复机器人机构方案，设计了机器人的控制方案。该机器人可针对使用者的不同步行能力等级提供相应的行走训练策略，帮助脑卒中患者重新获得步行功能，为体弱老年人提供行走助力。
设计了人体步态信息测量系统，对正常人平地行走的步态信息进行了测量。研究了身体重心的前进速度与下肢关节角度、角速度的运动特征关系，建立了人体步态信息的数学模型。根据人体生理学运动信息，对双曲柄助行机构进行了尺寸优化；提出了一种适用于双曲柄助行机构的步态规划模型，实现了对支撑期和摆动期步态的合理控制。基于身体重心运动信息建立了移动单元速度规划模型，规划模型符合人体重心运动规律。利用MATLAB软件进行了仿真分析，验证了助行康复训练运动规划符合正常行走步态特征，机器人可以帮助使用者在不同步速下实现连续稳定的行走。
基于运动规划模型对机器人系统进行了控制策略的研究。提出了一种助行康复机器人被动协调控制策略，用于对步行能力低于3级的使用者进行被动行走训练。分别对两个运动单元进行了伺服控制研究。利用动力学矩阵数学模型和拉格朗日方法分别建立了助行单元动力学模型、人体下肢动力学模型及人机系统动力学模型；设计了助行单元鲁棒控制器和移动单元交叉耦合鲁棒控制器；利用Lyapunov方法进行了控制系统的稳定性分析。对各运动单元的控制特性和机器人系统的协调控制特性进行了仿真研究。
提出了一种机器人助力协调控制策略，用于对步行能力高于3级的使用者进行助力行走训练。分别对移动单元力伺服控制、减重单元力伺服控制及人机系统助力协调控制进行了研究。建立了移动单元动力学模型及人机系统动力学模型，通过分析系统特性设计了前馈–反馈复合控制器；针对两轮受力不均导致的移动单元转弯现象，设计了模糊控制器对驱动力矩进行调整，实现控制机器人整体的协调运动。设计了基于使用者的加速度进行恒质量减重的力闭环控制器，保证使用者助力行走过程中下肢承受动态载荷。进行了各运动单元力控制及机器人系统助力行走协调控制的仿真研究。
研制了助行康复机器人实验样机，介绍了实验系统各部分的构成及功能。利用dSPACE平台进行了相关的实验研究，包括移动单元并行控制实验、移动单元交叉耦合控制实验、助行单元功能及鲁棒控制实验、机器人协调控制实验及真人使用实验。实验研究验证了机器人机构的合理性，控制系统的稳定性及各种控制策略的可行性，机器人可以对真人实现辅助行走训练功能。
Human walking is a coordination and voluntary movement in the control of nervoussystem and motor system. It is essential to ensure independent living conditions for mankind.Nervous system or motion system problems will lead to walking obstacles and even loss ofhuman walking ability, which seriously affects the normal life. Cerebrovascular disease is oneof the most common neurological diseases. Modern studies confirm that, throughrehabilitation training, stroke patients with neurological injury can complete the restructuringof the central nervous system and functional compensation, motion function can also restore.As the human motion system will gradually decline with increasing age, older people willhave different degrees of movement dysfunction, which needs body support or legspower-assisted to help achieve normal walking. Walking assistance rehabilitation robot canprovide appropriate training mode to users according to the users’ different levels of ability,which will realize the rehabilitation walking intelligent. The robot can also provide objective,accurate treatment and evaluation parameters for clinical rehabilitation physicians to ensurethe training efficiency and strength. The development of walking assistance rehabilitationrobot has important significance on helping stroke patients re-establish the confidence to walkand improving the quality of the elderly to live independently.
The research work comes from a project funded by National High Technology Researchand Development Program (863Program), which is “Research on Multi-walkingrehabilitation robot (2008AA040203)”. The main objective is to provide rehabilitationtraining and walking services to hemiplegia, paraplegia physically disabled patients and frailelderly. The detailed theoretical analysis and experimental research are carried out includingthe detection and analysis of human gait, man-machine system rehabilitation motion planning,coordination control strategy of robot passive training and coordination control strategy ofrobot power-assisted training.
Research status of walking assistance rehabilitation robot and related fields areoverviewed at home and abroad. Based on analyzing and comparing the existed rehabilitationrobots’ machines, working principles and control strategies, a kind of machine scheme ofwalking assistance rehabilitation robot is proposed and the robot’s control scheme is designed.The robot can provide appropriate walking training strategies to users according to theirwalking ability, and it can help stroke patients regain walking function and provide walkingpower to the frail elderly.
Gait information measurement system is designed to measure the normal ground walkinggait information. The characteristics of the body gravity center’s speed, the lower limb joints’angle and angular velocity are analyzed. Mathematical model of human gait information is set up. The structure size optimization of walking assistance mechanism is finished according tohuman physiology motion information. A gait planning model is proposed for double-crankwalking assistance mechanism, which can control the stance phase and swing phase of gaitreasonably. A speed planning model of mobile platform is established based on the bodyweight movement information and the model is fit for the gravity of human body centermotion characteristics. The simulation analysis is carried out by using MATLAB software.The results show that motion planning fits for characteristics the normal walking gait, and therobot can help the person to achieve a continuous and steady walking.
Based on the mathematical model of human gait information, the passive coordinationcontrol strategy is proposed for people whose walking ability is under the3level. Theclosed-loop control strategies of the two units were studied. Dynamic models of walkingassistance unit, human lower limbs and man-machine are established using dynamic matrixmathematical model and Lagrange method. Walking assistance unit robust controller andmobile platform cross-coupling synchronization controller are designed. Using Lyapunovmethod, stability analysis of robot control system is made. The simulation study of each unit’scharacteristics and coordination of robot system are finished.
The power-assisted coordination control strategy is proposed for people whose walkingability is over the3level. The force closed-loop control strategies of mobile platform, thebody support mechanism, and man-machine system are studied. Dynamic models of mobileplatform and man-machine system are established. Feedforward and feedback controller isdesigned according to the analysis of the system’s characteristics. Fuzzy controller is designedfor phenomenon of the mobile platform turn which is caused by the uneven force of the twowheels. Constant quality body weight supported force controller based on the user’sacceleration is proposed, which will help the user bear the mutative loads. The fuzzycontroller can realize the coordinated control of the robot. Simulation of each unit forcecontrol and robot power-assisted coordinated control are researched.
Experimental prototype of walking assistance rehabilitation robot is developed. Thecomponents and function of experimental system are described. Base on the dSPACEreal-time system, experimental study is completed which mainly include the mobile platformparallel control, mobile platform cross-coupling synchronization control, the walkingassistance unit function and robust control, the robot coordination control, the real use ofexperiment and so on. The experimental research verifies the rationality of walking assistancerobot model, the stability of robot control system and the feasibility of various controlstrategies. The robot can achieve the real walking training fucntion.
引文
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