【作者】 王克宽；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2009， 硕士

【摘要】 将机器人辅助治疗技术引入到康复训练中,已经逐渐发展成为国内外热门课题之一。步态训练机器人属于康复机器人领域,可以模拟正常人在不同路况下的行走步态,帮助病人进行下肢康复训练。课题主要研究了机器人系统伺服控制技术,因此更具有实际应用意义。本文从国内外下肢康复训练机器人的发展现状及应用、机器人机构设计和控制模式等方面,分析了机器人辅助下肢运动功能康复的可行性和方法的实现,具体研究如下:本文依据步态训练机器人的应用对象和步态康复理论,确定了机器人的设计目标和控制系统方案。在实际测量步态轨迹的基础上,采用三次样条插值法进行了机器人三种基本步态的轨迹规划,包括平地行走步态、上楼梯步态和下楼梯步态,并对三种步态进行了运动学仿真验证。应用MATLAB/Si-mMechanics进行了步态训练机器人的动力学分析,并在分析动力学数据、人体步态和系统非线性因素的基础上,确定了步态训练机器人的控制算法和策略,建立系统的控制模型,并进行了轨迹控制仿真研究。基于理论研究,利用dSPACE实时仿真平台进行了步态训练机器人的半物理仿真设计。将步态训练机器人系统引入控制回路,将位置初始化模型、限位保护模型、各种训练模式的控制模型等转化为Simulink与RTI联系的仿真模型,并令其成为相对独立的模块,确定各模块间的相互关系,同时对关节伺服系统进行了模型辨识。此后,对正常人进行了机器人辅助训练的实验。分别对各种训练模式进行实验研究,并验证轨迹规划的合理性;实时调整控制参数,监测得到机器人系统的运动信息,对实验结果进行分析和评价,实验结果验证了系统控制方案的可行性和正确性。更多还原

【Abstract】 The therapy technology of rehabilitation aided by robot has gradually become one of the hottest subjects at home and abroad. Gait training robot belongs to rehabilitative robot, and can simulate the walking gait of normal human on different road conditions to help patients take lower limbs rehabilitative training. The project mainly focused on the servo control technology of gait training robot, and the research is practical.This paper systematically overviews the development situation and application of the lower limbs rehabilitation robot. Together with the mechanism design and control mode, it analyzes the feasibility of the aided-robot for lower -limb-motor rehabilitation and the way to realize it. The concrete researches are as follows:According as the application objects and gait rehabilitation theory, the design target and the control system scheme were confirmed. Three kinds of gait orbits to this robot were planed adopting cubic spline method based on the measured orbits, including normal gait, upstairs gait and downstairs gait, and they were validated through kinematics simulation. Dynamics analysis was carry out through MATLAB/SimMechanics, and the control algorithm and the strategy of rehabilitation robot were confirmed based on the analysis of dynamics data, gaits and system nonlinearity, and the control model was established, and the simulation of trajectory tracking control was carried out.Based on the dSPACE real-time platform, The HIL simulation was designed according to the theoretical research. Here the robot system was located in the control loop. Position initialization model, limit protecting model, control model actualizing all kinds of training modes were all translated into the simulation models. These models were independent to each other and related the Simulink with the RTI, and the system was identified.Finally, through training the healthy subjects by robot, all kinds of training modes were researched, and the orbits were validated. With the control parameters momentarily adjusted and the feedback information, the results of the experiments were attained. Then the results were analyzed and estimated, and the feasibility of the control system scheme was validated.更多还原