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

Abstract

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

CLC Number:

R496

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.

Figures/Tables 7

References 35

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

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