基于扭绳驱动的上肢外骨骼康复训练机器人设计与控制
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摘要
中风是造成人后天性残疾的主要原因之一，中风患者通常伴有单侧的肢体运动障碍，约88%的患者呈现功能性缺陷。由于患者患侧肢体功能的缺陷，患者在日常生活中会存在动作上的缺损、失能、从而导致患者无法独立进行日常生活中的各种活动。本文将一种新颖的扭绳驱动方式与微软公司的Kinect体感传感器结合起来，设计出一种多用途的上肢外骨骼康复训练机器人，中风患者患侧上肢在康复机器人提供的辅助力帮助下，实现患侧上肢的肌肉、关节以及神经功能的康复训练。提出了一种基于自适应鲁棒控制的交叉耦合同步控制策略，通过理论分析和实验验证明，该算法可以提高上肢外骨骼康复训练机器人扭绳驱动关节的响应速度、目标轨迹跟踪与同步精度。
Stroke, or cerebrovascular accident (CVA), is one of the major causes of physical impairment inwhich the brain loses its functionality due to a disturbance in blood supply, and can cause permanentneurological damage, complications, and death. As a result, the affected area of the brain does notfunction properly anymore, which might result in an inability to move one or more limbs on one sideof the body as well as difficulties in cognition and sensing, inability to understand or formulatespeech, or an inability to see one side of the visual field. In this paper a novel twist string actuatorand Microsoft Kinect somatosensory sensor were adopted to design an exoskeleton rehabilitationrobot for stroke patients' upper limb that can help stroke patiens to do rehabilitation exercise. Newtechnologies facilitate designing new devices which are cheaper and have better performance.Microsoft Kinect Virtual environment were integrated to robots for tracking the trajectory of shouldand elbow joint. Based on the knowledge of the robot, the uncertainties of the twisted sting actuatorare unknown but bounded in certain regions. Hence, in this paper, the adaptive control and the robustcontrol approaches will be combined together and implemented to achieve control objectives.
Stroke, or cerebrovascular accident (CVA), is one of the major causes of physical impairment inwhich the brain loses its functionality due to a disturbance in blood supply, and can cause permanentneurological damage, complications, and death. As a result, the affected area of the brain does notfunction properly anymore, which might result in an inability to move one or more limbs on one sideof the body as well as difficulties in cognition and sensing, inability to understand or formulatespeech, or an inability to see one side of the visual field. In this paper a novel twist string actuatorand Microsoft Kinect somatosensory sensor were adopted to design an exoskeleton rehabilitationrobot for stroke patients' upper limb that can help stroke patiens to do rehabilitation exercise. Newtechnologies facilitate designing new devices which are cheaper and have better performance.Microsoft Kinect Virtual environment were integrated to robots for tracking the trajectory of shouldand elbow joint. Based on the knowledge of the robot, the uncertainties of the twisted sting actuatorare unknown but bounded in certain regions. Hence, in this paper, the adaptive control and the robustcontrol approaches will be combined together and implemented to achieve control objectives.
引文
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