角加速度平滑的可变类圆周下肢康复步态规划

doi:10.3969/j.issn.1006-9771.2021.06.001

《中国康复理论与实践》 ›› 2021, Vol. 27 ›› Issue (6): 621-626.doi: 10.3969/j.issn.1006-9771.2021.06.001

角加速度平滑的可变类圆周下肢康复步态规划

陈琳¹,夏凯¹,张学涛¹,杨思创^1,²,潘海鸿¹()

^1.广西大学机械工程学院，广西南宁市 530004
^2.广西南宁丁一科技有限公司，广西南宁市 530004

收稿日期:2021-01-25 修回日期:2021-02-24 出版日期:2021-06-25 发布日期:2021-06-21
通讯作者: 潘海鸿 E-mail:hustphh@163.com
作者简介:陈琳(1973-)，女，汉族，山东青岛市人，博士，教授，博士生导师，主要研究方向：智能机器人技术、电池管理、机电检测与控制技术|潘海鸿(1966-)，男，汉族，广西南宁市人，博士，教授，博士生导师，主要研究方向：机器人控制技术、高速高精度运动控制和伺服驱动技术。
基金资助:
广西创新驱动发展专项(AA17204017);2.广西重点研发计划项目(AB16380237)

Variable Quasi-circular Gait Planning with Smooth Angular Acceleration for Lower Limb Rehabilitation

Lin CHEN¹,Kai XIA¹,Xue-tao ZHANG¹,Si-chuang YANG^1,²,Hai-hong PAN¹()

^1.College of Mechanical Engineering, Guangxi University, Nanning, Guangxi 530004, China
^2.Nanning Dingyi Technology Co. , Ltd. , Nanning, Guangxi 530004, China

Received:2021-01-25 Revised:2021-02-24 Published:2021-06-25 Online:2021-06-21
Contact: Hai-hong PAN E-mail:hustphh@163.com
Supported by:
Guangxi Innovation-driven Development Project(AA17204017);Guangxi Key Research and Development Project(AB16380237)

摘要/Abstract

摘要： 目的

解决下肢康复机器人圆周步态训练时，在周期运动衔接处由角加速度突变导致机器人腿部抖动的问题。

方法

提出一种类圆周步态，将周期运动分为起始段、中间段和结束段三段，起始段和结束段时间区间大小相同且可随参数ratio调整，两段的关节轨迹使用五次多项式规划，中间段仍为圆周步态关节轨迹。并对提出的类圆周步态轨迹进行仿真。

结果

不同ratio下的类圆周步态在周期过渡时角速度连续可导且为0，角加速度连续且为0，末端轨迹随ratio变大而逐渐变得扁平。在下肢康复机器人物理样机上进行实验验证，实验结果与仿真结果基本一致，且机器运行平稳。

结论

提出的可变类圆周步态在周期运动衔接处角加速度平滑，可有效解决使用圆周步态进行下肢康复训练时的抖动问题，避免对患者的二次伤害。

关键词: 下肢康复机器人, 步态轨迹规划, 运动学分析, 五次多项式

Abstract: Objective

To solve the problem of leg shaking caused by the sudden change of angular acceleration at the joint of periodic motion during circular gait training of lower limb rehabilitation robot.

Methods

A kind of quasi-circular gait was proposed, which divided the periodic motion into three phases: start phase, middle phase and end phase. The time was equal in the start phase and the end phase, and could be adjusted with the parameter ratio. The joint trajectories of the two phases were planned by quintic polynomial, and the middle phase was still the circular gait joint trajectory. The trajectory of the proposed quasi-circular gait was simulated.

Results

The angular velocity was continuously differentiable and 0, the angular acceleration was continuous and 0, and the end-effector trajectory became flat with the increase of ratio. The results on the physical prototype of the lower limb rehabilitation robot were principally consistent with the simulation, and the machine worked smoothly.

Conclusion

The proposed variable quasi-circular gait had smooth angular acceleration at the junction of periodic motions, which effectively solved the jitter problem when using circular gait for lower limb rehabilitation training and avoided secondary injury to the patients.

Key words: lower limb rehabilitation robot, gait planning, kinematics analysis, quintic polynomial

中图分类号:

R496

陈琳,夏凯,张学涛,杨思创,潘海鸿. 角加速度平滑的可变类圆周下肢康复步态规划[J]. 《中国康复理论与实践》, 2021, 27(6): 621-626.

Lin CHEN,Kai XIA,Xue-tao ZHANG,Si-chuang YANG,Hai-hong PAN. Variable Quasi-circular Gait Planning with Smooth Angular Acceleration for Lower Limb Rehabilitation[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(6): 621-626.

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项目	圆周步态	ratio = 0.125	ratio = 0.25	ratio = 0.5
髋关节正向最大误差	0.6183	0.6066	0.5819	0.5696
髋关节负向最大误差	-0.0875	-0.1065	-0.0736	-0.0782
膝关节正向最大误差	0.2429	0.1844	0.1479	0.1804
膝关节负向最大误差	-1.2047	-1.2547	-1.2487	-1.2327

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角加速度平滑的可变类圆周下肢康复步态规划

Variable Quasi-circular Gait Planning with Smooth Angular Acceleration for Lower Limb Rehabilitation

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