步行康复机器人轨迹控制方法研究*

作者：李荫湘，钱晋武*，沈林勇，王企远 日期：2010-06-28/span> 浏览：4224 查看PDF文档

步行康复机器人轨迹控制方法研究*
李荫湘，钱晋武*，沈林勇，王企远
（上海大学 机电工程与自动化学院，上海 200072）

摘要：为了满足神经受损患者步行康复训练需要，设计了以外骨骼助行腿为核心的步行康复机器人，其重要的要求是保证机器人的运动轨迹符合患者康复训练要求。为使机器人能模拟步态为患者提供康复训练，在合理的步态规划后对轨迹的控制方法进行了研究，在控制系统软、硬件平台上完成了步行康复机器人助行腿的两种轨迹控制方式（位置控制和速度控制）。通过实验验证了控制方式的可行性，满足了患者步态训练需要。同时实验结果表明，速度控制方式比位置控制方式更加适合步行康复机器人。
关键词：康复机器人；外骨骼助行腿；位置控制；速度控制
中图分类号：TH13；TP24文献标识码：A文章编号：1001-4551(2010)06-0047-05

Research on trajectory control method for gait rehabilitation robot

LI Yin-xiang, QIAN Jin-wu, SHEN Lin-yong, WANG Qi-yuan
(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)

Abstract: Aiming at training demands for walking patients with impaired cranial nerves, a gait rehabilitation robot with the core of exoskeleton was designed. The important thing is to ensure the robot’s motion trajectory in line with rehabilitation training requirements. Furthermore, to simulate human gait for the training demands of walking patients by exoskeleton, the gait trajectory control method after reasonable gait planning was researched. The positional control and velocity control of the gait trajectory for gait rehabilitation robot was realized based on hardware and software of control system. The feasibility of control method was verified through experiments. The experimental result shows that, velocity control method is more suitable than positional control method for gait rehabilitation robot.
Key words: rehabilitation robot; exoskeleton; positional control; velocity control