下肢康复机器人离散自适应控制的研究

A Decentralized Adaptive Control Strategy for Lower Extremity Rehabilitation Robot

中文关键词:  康复机器人  非线性逆系统解耦  阻抗和自适应控制

英文关键词:rehabilitation robot  nonlinear inverse system decoupling  impedance and adaptive control

中文摘要:

      康复训练是脑卒中、脊髓损伤患者主要的治疗手段。机器人辅助步行训练是近年来广泛应用的下肢康复训练方式。针对具有步态自适应功能的下肢康复机器人，提出了一种柔顺协调控制方法。基于非线性逆系统解耦理论，系统分解为几个独立的二阶积分系统。在解耦子系统中，采用阻抗和自适应控制来进行步态轨迹的规划和跟踪。最后，在Matlab Adams联合仿真系统中对设计的控制器进行仿真并验证算法的正确性。

英文摘要:

      Rehabilitation is the major therapy in stroke and spinal cord injured individuals.Robot-aided treadmill training has been widely used for lower limb rehabilitation training in recent years.A compliant patient cooperative control approach for lower extremity rehabilitation robot (LEER) with automatic gait pattern is presented.Based on nonlinear inverse system decoupling theory,the system is decoupled into some independent second-order integral systems.Based on the decoupled sub-systems,the impedance and adaptive control methods are further investigated for the gait trajectory planning and tracking.Finally,the performance of the proposed controller is verified in the Matlab-Adams co-simulation environment.