Impedance self-adapting motion control method based on rehabilitation training robot

Abstract

The invention discloses an impedance self-adapting motion control method based on a rehabilitation training robot. The method is characterized in that: an online recognizer calculates an equivalent quality parameter Mh, an equivalent damping parameter Bh and an equivalent rigidity parameter Kh of a limb according to acting force and position of the limb collected by a force sensor and a position sensor, and corrects a proportional factor KP, an integral coefficient KI and a differential coefficient KD of a proportional-differential-integral controller according to the variation of the parameters; and a motor power signal output by the proportional-differential-integral controller is converted into a driving signal of a torque motor for controlling the work of the torque motor. According to the control method, the control flexibility and safety of the rehabilitation training robot can be improved.

Description

technical field [0001] The utility model relates to the field of automatic control of rehabilitation training robots, in particular to an impedance adaptive motion control method based on rehabilitation training robots. Background technique [0002] In today's society, stroke is a disease that seriously threatens the health of middle-aged and elderly people, and the incidence rate is increasing year by year. The disease causes loss of motor function in the affected limbs and associated complications. In particular, the loss of motor function in the upper extremities greatly affects the patient's ability to perform daily living. However, medical experiments have shown that if rehabilitation training is assisted in the initial stage of treatment, the possibility of recovery of limb function is extremely high. At present, many research institutions in China are already committed to developing an efficient and high-efficiency rehabilitation training institution. [0003] Beca...

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Problems solved by technology

[0003] Because the direct target of the rehabilitation training robot is the patient's affected limb, which has unpredictable and vari

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