摘要
为协助上肢功能受损康复患者康复,设计了一种能够实现肘部屈伸与内外旋,肩部屈伸与一定角度下内外旋和外展内收运动,并具有长度可调、质量轻、舒适性较好的上肢康复外骨骼结构。对此结构采用D-H方法进行运动学分析,求出正逆解和运动范围空间,使用凯恩方程法进行动力学分析,求出具体情境下各关节理论驱动转矩值,最后,设计了模糊自适应鲁棒控制器,保证在模型建模不确定性及摩擦条件下的渐近输出跟踪性能,以实现对外骨骼关节运动轨迹的高精度控制。为优化完善康复外骨骼,进行智能外骨骼康复系统功能的搭建提供了平台。
In order to assist the rehabilitation of patients with impaired upper limb function,we designed an upper limb rehabilitation exoskeleton structure with adjustable length,light weight and good comfort,which can realize elbow flexion and extension and internal and external rotation,shoulder flexion and extension and internal and external rotation and abduction at a certain angle.For this structure,the D-H method was used for kinematic analysis,the forward and inverse solution and motion range space were obtained,and the Kane equation method was used for dynamic analysis to obtain the theoretical driving torque value of each joint in the specific situation.A fuzzy adaptive robust controller was designed to ensure the asymptotic output tracking performance under the conditions of model modeling uncertainty and friction and to achieve high-precision control of exoskeleton joint trajectory.It provides a platform and work preparation for optimizing and improving the rehabilitation exoskeleton and building the function of intelligent exoskeleton rehabilitation system.
作者
马泽
管小荣
李仲
李灿
MA Ze;GUAN Xiaorong;LI Zhong;LI Can(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《兵器装备工程学报》
CSCD
北大核心
2022年第6期248-254,共7页
Journal of Ordnance Equipment Engineering
基金
南京市高层次创业人才引进计划项目
国防基础科研重点计划项目(JCKY2019209B003)。
关键词
康复外骨骼
D-H运动学
凯恩方法
补偿控制
rehabilitation exoskeleton
D-H kinematics
Kane method
compensation control
