康复机器人样机研制及步态控制研究
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摘要
目前,我国因老龄化、交通事故、自然灾害(如汶川、玉树大地震)等因素造成的肢体损伤人数越来越多,及时、科学的康复训练对肢体康复起到极其重要的作用,康复训练机器人在提供持续、定量的康复训练方面有很强的优越性。
本文研制一种下肢康复训练机器人,可为患者提供平地行走训练、上下楼梯训练、沙地行走训练等多种训练模式,可以满足多种步态训练的需要,具有广阔的市场前景。本文以康复机器人为研究对象,主要研究内容包括康复机器人机构方案和控制方案研究,人体步态测量及康复机器人运动学分析,康复机器人人机系统控制特性分析等,并研制了机器人实验样机,基于DS1103对康复机器人进行了不同路况、不同步速下的轨迹跟踪实验研究。
在总结国内外下肢康复机器人的基础上,提出了一种康复机器人机构方案,机器人共有六个自由度,分为左步态控制机构和右步态控制机构,并且两者对称,单侧机构又由位置机构和姿态机构组成；通过左、右步态机构之间的运动协调控制,可以帮助使用者做不同路况下的行走训练。
通过搭建的人体步态测量系统,得到了正常人在上楼梯、平地行走和下楼梯时的步态规律。对康复机器人进行了运动学分析和运动空间分析,将测得的步态轨迹嵌入到机器人的运动空间里,验证了机器人结构参数的合理性,并通过运动学仿真进一步验证了机器人结构方案的可行性。
应用牛顿-欧拉法,基于MATLAB对康复机器人进行了动力学性能分析。通过列写机器人的运动约束方程和牛顿-欧拉方程,构成了机器人的约束矩阵方程,利用MATLAB工具箱建立了机器人动力学仿真模型,并对机器人跟踪直线和椭圆轨迹进行负载特性分析,为实现机器人的控制及性能改进提供了理论依据。
对康复机器人人机系统的控制特性进行研究,并通过仿真实验对三种控制策略进行验证。轨迹跟踪控制实现人在平地、上楼梯、下楼梯三种步态的轨迹跟踪,使得轨迹跟踪的快速性、准确性均满足要求；在阻抗控制中研究刚度系数Kd、阻尼系数Bd、惯量系数Md对柔顺性的影响并得到变化规律；研究模拟沙土承压特性控制方法,并验证该方法的可行性和有效性。
研制康复机器人实验样机,基于DS1103对康复机器人进行了不同路况、不同步速下的轨迹跟踪实验研究。结果表明,机器人实现了人在平地、上、下楼梯三种步态的模拟,步速、步长、承载能力和控制精度均满足康复训练的要求。
There are currently more and more people have physical injury due to aging, accidents, natural disasters, etc., such as Wenchuan Earthquake, Yushu Earthquake. Timely and scientific rehabilitation training played an important role in physical rehabilitation. Rehabilitation training robot had a strong advantage of continuous and quantitative rehabilitation training.
A kind of lower limbs rehabilitative robot was researched, which had a broad market prospect and can provide several kinds of training models and scenes for the patients, such as going on ground, walking up and down stairs, walking on sand. In this paper, rehabilitative robot was researched. The research mainly included, study on mechanism and controlling scheme of rehabilitative robot, human gait regular measurement, kinematics analysis, human-computer system controlling properties and simulation, etc.. In the meantime, an experimental prototype robot was developed. Based on DS1103, the experimental study on different road conditions and different walking speed of trajectory tracking was carried.
On the basis of the research results of the lower-limb rehabilitation robot at home and abroad, a kind of rehabilitative robot which had six degrees of freedom was proposed to help the patients walk on different terrains through motor coordination controlling between the left and right gait mechanism. It had two symmetrical gait mechanism both side, each side was made of position and posture mechanism.
Through the human gait measurement system, the gait regular rules of normal human walking on ground, up and down stairs was achieved. Based on the rehabilitative robot, the kinematics and motion space was analyzed. The measured gait trajectory was embedded in the robot motion space to verify the reasonableness of the robot's structure parameters. The feasibility of robot structure scheme was demonstrated through kinematics simulation.
With the Newton-Euler method, the dynamics simulation of the rehabilitative robot was analyzed based on the software MATLAB. The motion constraint equation and Newton-Euler equation constituted the restricted matrix equation of the robot. Robot dynamics simulation model was established with MATLAB Toolbox. The straight and elliptical trajectory were tracked respectively to provide the theoretical basis for realization of controlling and performance improvement.
The control characteristics of the rehabilitative robot's human-machine system were researched, and three kinds of control strategy were validated by simulation experiment. Gaits trajectory tracking was achieved by tracking control, such as going on ground, walking up and down stairs, which making the celerity and accuracy of tracking meet the requirements. In the impedance control the impact to position offset was studied, included the coefficients of stiffness Kd, damping Bd, inertia Md, and got the movement rules. Control methods of simulating sand bearing characteristic were researched, and the feasibility and effectiveness of them were verified.
The experimental prototype of rehabilitative robot was developed, Based on DS1103 trajectory tracking experiments were done of the rehabilitative robot for different terrains and different walking speed. Results show that the gait simulation of going on ground, walking up and down stairs is certified by the robot and walking speed, step length, carrying capacity and control accuracy all meet the requirements of rehabilitation.
本文研制一种下肢康复训练机器人,可为患者提供平地行走训练、上下楼梯训练、沙地行走训练等多种训练模式,可以满足多种步态训练的需要,具有广阔的市场前景。本文以康复机器人为研究对象,主要研究内容包括康复机器人机构方案和控制方案研究,人体步态测量及康复机器人运动学分析,康复机器人人机系统控制特性分析等,并研制了机器人实验样机,基于DS1103对康复机器人进行了不同路况、不同步速下的轨迹跟踪实验研究。
在总结国内外下肢康复机器人的基础上,提出了一种康复机器人机构方案,机器人共有六个自由度,分为左步态控制机构和右步态控制机构,并且两者对称,单侧机构又由位置机构和姿态机构组成；通过左、右步态机构之间的运动协调控制,可以帮助使用者做不同路况下的行走训练。
通过搭建的人体步态测量系统,得到了正常人在上楼梯、平地行走和下楼梯时的步态规律。对康复机器人进行了运动学分析和运动空间分析,将测得的步态轨迹嵌入到机器人的运动空间里,验证了机器人结构参数的合理性,并通过运动学仿真进一步验证了机器人结构方案的可行性。
应用牛顿-欧拉法,基于MATLAB对康复机器人进行了动力学性能分析。通过列写机器人的运动约束方程和牛顿-欧拉方程,构成了机器人的约束矩阵方程,利用MATLAB工具箱建立了机器人动力学仿真模型,并对机器人跟踪直线和椭圆轨迹进行负载特性分析,为实现机器人的控制及性能改进提供了理论依据。
对康复机器人人机系统的控制特性进行研究,并通过仿真实验对三种控制策略进行验证。轨迹跟踪控制实现人在平地、上楼梯、下楼梯三种步态的轨迹跟踪,使得轨迹跟踪的快速性、准确性均满足要求；在阻抗控制中研究刚度系数Kd、阻尼系数Bd、惯量系数Md对柔顺性的影响并得到变化规律；研究模拟沙土承压特性控制方法,并验证该方法的可行性和有效性。
研制康复机器人实验样机,基于DS1103对康复机器人进行了不同路况、不同步速下的轨迹跟踪实验研究。结果表明,机器人实现了人在平地、上、下楼梯三种步态的模拟,步速、步长、承载能力和控制精度均满足康复训练的要求。
There are currently more and more people have physical injury due to aging, accidents, natural disasters, etc., such as Wenchuan Earthquake, Yushu Earthquake. Timely and scientific rehabilitation training played an important role in physical rehabilitation. Rehabilitation training robot had a strong advantage of continuous and quantitative rehabilitation training.
A kind of lower limbs rehabilitative robot was researched, which had a broad market prospect and can provide several kinds of training models and scenes for the patients, such as going on ground, walking up and down stairs, walking on sand. In this paper, rehabilitative robot was researched. The research mainly included, study on mechanism and controlling scheme of rehabilitative robot, human gait regular measurement, kinematics analysis, human-computer system controlling properties and simulation, etc.. In the meantime, an experimental prototype robot was developed. Based on DS1103, the experimental study on different road conditions and different walking speed of trajectory tracking was carried.
On the basis of the research results of the lower-limb rehabilitation robot at home and abroad, a kind of rehabilitative robot which had six degrees of freedom was proposed to help the patients walk on different terrains through motor coordination controlling between the left and right gait mechanism. It had two symmetrical gait mechanism both side, each side was made of position and posture mechanism.
Through the human gait measurement system, the gait regular rules of normal human walking on ground, up and down stairs was achieved. Based on the rehabilitative robot, the kinematics and motion space was analyzed. The measured gait trajectory was embedded in the robot motion space to verify the reasonableness of the robot's structure parameters. The feasibility of robot structure scheme was demonstrated through kinematics simulation.
With the Newton-Euler method, the dynamics simulation of the rehabilitative robot was analyzed based on the software MATLAB. The motion constraint equation and Newton-Euler equation constituted the restricted matrix equation of the robot. Robot dynamics simulation model was established with MATLAB Toolbox. The straight and elliptical trajectory were tracked respectively to provide the theoretical basis for realization of controlling and performance improvement.
The control characteristics of the rehabilitative robot's human-machine system were researched, and three kinds of control strategy were validated by simulation experiment. Gaits trajectory tracking was achieved by tracking control, such as going on ground, walking up and down stairs, which making the celerity and accuracy of tracking meet the requirements. In the impedance control the impact to position offset was studied, included the coefficients of stiffness Kd, damping Bd, inertia Md, and got the movement rules. Control methods of simulating sand bearing characteristic were researched, and the feasibility and effectiveness of them were verified.
The experimental prototype of rehabilitative robot was developed, Based on DS1103 trajectory tracking experiments were done of the rehabilitative robot for different terrains and different walking speed. Results show that the gait simulation of going on ground, walking up and down stairs is certified by the robot and walking speed, step length, carrying capacity and control accuracy all meet the requirements of rehabilitation.
引文
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