基于导纳控制的双边康复机器人运动辅助分析

doi:10.3969/j.issn.1006-9771.2023.09.015

《中国康复理论与实践》 ›› 2023, Vol. 29 ›› Issue (9): 1104-1109.doi: 10.3969/j.issn.1006-9771.2023.09.015

基于导纳控制的双边康复机器人运动辅助分析

蔡华年¹, 费思先¹, 张忆晨¹, 孙青¹, 郭帅¹(), 宋韬²^,³

1.上海大学工程技术训练中心，上海市 200444
2.上海大学机电工程与自动化学院上海市智能制造及机器人重点实验室，上海市 200444
3.上海金矢机器人科技有限公司，上海市 200444

收稿日期:2023-06-20 修回日期:2023-08-14 出版日期:2023-09-25 发布日期:2023-10-26
通讯作者: 郭帅 E-mail:guoshuai@i.shu.edu.cn
作者简介:蔡华年(1999-)，男，汉族，江苏泰州市人，硕士研究生，主要研究方向：康复机器人技术。
基金资助:
1.国家自然科学基金项目(61973205);2.国家自然科学基金国家重大科研仪器研制项目(82227807);3.上海市科技创新行动计划宝山转型发展科技专项(21SQBS00300);4.第二批上海市城市数字化转型专项资金项目(202202004);5.南京医科大学附属江宁医院医工融合实验室开放课题(JNYYZXKY202218)

Motion assistance analysis for robot-assisted tele-rehabilitation based on bilateral admittance control

CAI Huanian¹, FEI Sixian¹, ZHANG Yichen¹, SUN Qing¹, GUO Shuai¹(), SONG Tao²^,³

1. Engineering Technology Training Center, Shanghai University, Shanghai 200444, China
2. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China
3. Shanghai Golden Arrow Robot Technology, Shanghai 200444, China

Received:2023-06-20 Revised:2023-08-14 Published:2023-09-25 Online:2023-10-26
Contact: GUO Shuai E-mail:guoshuai@i.shu.edu.cn
Supported by:
National Natural Science Foundation of China(61973205);National Natural Science Foundation of China (Major Scientific Instrument Development)(82227807);Shanghai Science and Technology Innovation Plan-Baoshan Special(21SQBS00300);Shanghai Digital Transformation Special(202202004);Medical and Industrial Integration Laboratory of Jiangning Hospital Affiliated to Nanjing Medical University Open Project(JNYYZXKY202218)

摘要/Abstract

摘要：

目的提出一种基于导纳控制的双边康复机器人运动辅助策略，使康复医师能通过远程示教辅助患者进行康复训练。

方法构建上肢末端牵引式双边远程康复平台；基于速度导纳控制实现主机器人与康复医师的交互运动，搭建通讯框架实现主从机器人的位置信息传输；从机器人接收主机器人位置坐标，结合姿态导纳控制器带动患者进行运动。

结果从机器人能带动患者准确、实时跟踪医师端示教的轨迹，可提高康复训练的安全性和人机交互的柔顺性。

结论通过引入两个导纳控制器，使从机械臂带动患者运动时能准确跟踪医师端轨迹，并有效避免患者进行康复运动时手臂不适的情况。

关键词: 机器人, 康复, 人机交互, 远程示教, 导纳控制

Abstract:

Objective To develop a bilateral rehabilitation robot motion assistance strategy based on admittance control, so that rehabilitation physicians can assist patients in rehabilitation training through remote teaching.

Methods A bilateral remote rehabilitation platform with upper limb terminal traction was constructed. Based on the velocity admittance control, the interactive movement between the master robot and the rehabilitation physician was realized, and the position information transmission of the master-slave robot was realized through the communication framework built. The slave robot received the position coordinates of the main robot, and drove the patient to carry out rehabilitation exercises under the attitude admittance controller.

Results The robot could drive the patient to accurately track the trajectory of the doctor's teaching in real time, and improve the safety and compliance of the training and human-computer interaction.

Conclusion By introducing two admittance controllers, the trajectory of the physician's end can be accurately tracked when driving the patient's movement from the robotic arm, which effectively avoids the discomfort of the patient's arm in process of rehabilitation.

Key words: robot, rehabilitation, human-robot interaction, remote teaching, admittance control

中图分类号:

R496

蔡华年, 费思先, 张忆晨, 孙青, 郭帅, 宋韬. 基于导纳控制的双边康复机器人运动辅助分析[J]. 《中国康复理论与实践》, 2023, 29(9): 1104-1109.

CAI Huanian, FEI Sixian, ZHANG Yichen, SUN Qing, GUO Shuai, SONG Tao. Motion assistance analysis for robot-assisted tele-rehabilitation based on bilateral admittance control[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(9): 1104-1109.

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基于导纳控制的双边康复机器人运动辅助分析

Motion assistance analysis for robot-assisted tele-rehabilitation based on bilateral admittance control

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