基于运动表现的双人上肢交互辅助策略设计

doi:10.3969/j.issn.1006-9771.2024.10.014

摘要/Abstract

摘要：

目的提出一种基于运动表现的自适应运动辅助策略，以平衡双人上肢康复训练中由于患者运动能力不同导致的运动强度差异。

方法设计一种适用于双人康复训练的竞争性交互任务系统。引入两个运动学评价指标，采用模糊逻辑综合评价患者运动表现；构建自适应控制系统框架，通过基于差异度的自适应步长分段函数，实现机器人辅助水平的动态调整。不定向招募4名健康人进行测试。

结果所提出的策略能够根据受试者运动表现自适应改变辅助程度，实现受试者运动能力差异的平衡，使交互双方处于相似的竞争水平。

结论基于运动表现的自适应运动辅助策略，构建了自适应控制系统框架，能有效平衡不同运动能力受试者之间的技能水平，避免双人交互训练过程中运动强度不平衡问题。

关键词: 上肢康复, 运动表现, 辅助策略, 模糊逻辑, 人机交互

Abstract:

Objective To propose a motion performance-based adaptive assistance strategy to balance the differences in movement intensity caused by varying motor abilities in dual-person upper limb rehabilitation training.

Methods A competitive interactive task suitable for dual-person rehabilitation training was designed. Two kinematic evaluation metrics were introduced, and fuzzy logic was applied to comprehensively assess the patients' motor performance. An adaptive control system framework was constructed to dynamically adjust the robot's assistance level through a difference-based adaptive step-size piecewise function. Four healthy persons were recruited randomly to test the system.

Results The proposed strategy could adaptively adjust the level of assistance based on the participants' motor performance, balancing the differences in motor abilities between them and enabling both parties to engage at a similar competitive level.

Conclusion The motion performance-based adaptive assistance strategy and adaptive control system framework may balance the skill levels between participants with different motor abilities, avoiding the imbalance of training intensity during dual-person interactive rehabilitation.

Key words: upper limb rehabilitation, motion performance, assistance strategy, fuzzy logic, human-robot interaction

中图分类号:

R496

张忆晨, 费思先, 孙青, 李璇璇, 郭帅. 基于运动表现的双人上肢交互辅助策略设计[J]. 《中国康复理论与实践》, 2024, 30(10): 1232-1240.

ZHANG Yichen, FEI Sixian, SUN Qing, LI Xuanxuan, GUO Shuai. A motion performance-based assistance strategy for dual-person upper limb interaction[J]. Chinese Journal of Rehabilitation Theory and Practice, 2024, 30(10): 1232-1240.

图/表 13

图1

图2

图3

表1

模糊规则表"

序号	$v - n$	$t n$	$T C F n$
1	B	B	L
2	B	M	CL
3	B	G	M
4	M	B	CL
5	M	M	M
6	M	G	CH
7	G	B	M
8	G	M	CH
9	G	G	H

表1

图4

图5

图6

图7

表2

试验中的参数"

参数	数值	参数	数值
$M$	$d i a g (0.5, 0.5, 0.5)$ kg	$d$	1 mm
$D$	$d i a g (40, 40, 40)$ Ns/m	$Δ T$	8 ms

表2

图8

图9

图10

图11

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