登录 | 注册 | 充值 | 退出 | 公司首页 | 繁体中文 | 满意度调查
综合馆
上肢康复机器人实时安全控制
  • 摘要

    针对上肢辅助康复机器人临床使用中的安全性和平稳性问题,提出基于模糊逻辑的实时在线安全监测控制方法.机器人对患肢进行康复训练时,患肢状态对控制效果会产生影响;通过设计智能安全监控模糊控制器(SSFC)改善系统运动平稳性以及突发情况下的安全性.首先提取相关运动特征评估受训患肢状态稳定情况,安全监控模糊控制器智能实现正常扰动情况下的控制期望力调节以及突发情况下的紧急响应.其次通过基于位置的阻抗控制策略实现患肢与机器人末端的柔顺性.实验结果验证了该控制方法能够有效地实现康复机器人的安全性和平稳性.

  • 作者

    潘礼正  宋爱国  徐国政  李会军  崔建伟  徐宝国  PAN Lizheng  SONG Aiguo  XU Guozheng  LI Huijun  CUI Jianwei  XU Baoguo 

  • 作者单位

    东南大学仪器科学与工程学院,江苏南京,210096/南京邮电大学自动化学院,江苏南京,210003

  • 刊期

    2012年2期 ISTIC EI PKU

  • 关键词

    康复机器人  安全性  模糊逻辑  特征提取 

参考文献
  • [1] 杨俊友,白殿春,王硕玉,赵文增. 全方位轮式下肢康复训练机器人轨迹跟踪控制. 机器人, 2011,3
  • [2] 徐国政,宋爱国,李会军. 基于模糊逻辑的上肢康复机器人阻抗控制实验研究. 机器人, 2010,6
  • [3] 张立勋,李长胜,刘富强. 多模式下肢康复训练机器人的设计与实验分析. 中国康复医学杂志, 2011,5
  • [4] Reinkensmeyer D J. How to retrain movement after neurologic injury:A computational rationale for incorporating robot (or therapist) assistance. Piscataway,NJ,USA:IEEE, 2003
  • [5] Hogan N. Impedance control:An approach to manipulation:Part 1-Theory,Part 2-Implementation,and Part 3-Application. Journal of Dynamic Systems,Measurement,and Control, 1985,01
  • [6] Akdogan E;Tacgin E;Adli M A. Knee rehabilitation using an intelligent robotic system. Journal of Intelligent Manufacturing, 2009,02
  • [7] Xu G Z;Song A G;Li H J. Control system design for an upperlimb rehabilitation robot. Advanced Robotics, 2011,1/2
  • [8] Beyl P;Knaepen K;Duerinck S. Safe and compliant guidance by a powered knee exoskeleton for robot-assisted rehabilitation of gait. Advanced Robotics, 2011,05
  • [9] Yang Y;Wang L;Tong J. Arm rehabilitation robot impedance control and experimentation. Piscataway,NJ,USA:IEEE, 2006
  • [10] Qiao B;Lu R J. Impedance force control for position controlled robotic manipulators under the constraint of unknown environmeats. Journal of Southeast University, 2003,04
  • [11] Rooks B. The harmonious robot. Industrial Robot, 2006,02
  • [12] Riener R;Nef T;Colombo G. Robot-aided neurorehabilitation of the upper extremities. Medical and Biological Engineering and Computing, 2005,01
  • [13] Song A G;Wu J;Qin G. A novel self-decoupled four degree-of-freedom wrist force/torque sensor. Measurement, 2007,9/10
  • [14] Lum P S;Uswatte G;Taub E. A telerehabilitation approach to delivery of constraint-induced movement therapy. Journal of Rehabilitation Research and Development, 2006,03
  • [15] Laura M C;David J R. Review of control strategies for robotic movement training after neurologic injury. Journal of NeuroEngineering and Rehabilitation, 2009
  • [16] Barkana D E. Towards intelligent robot-assisted rehabilitation systems. International Journal of Systems Science, 2010,07
  • [17] Roderick S N;Carignan C R. An approach to designing software safety systems for rehabilitation robots. Piscataway,NJ,USA:IEEE, 2005
  • [18] Tejima N;Stefanov D. Fail-safe components for rehabilitation robots-A reflex mechanism and fail-safe force sensor. Piscataway,NJ,USA:IEEE, 2005
  • [19] Erol D;Sarkar N. Intelligent control framework for robotic rehabilitation after stroke. Piscataway,N J,USA:IEEE, 2007
  • [20] Kirihara K;Saga N;Saito N. Design and control of an upper limb rehabilitation support device for disabled people using a pneumatic cylinder. Industrial Robot, 2010,04
查看更多︾
相似文献 查看更多>>
34.239.147.197