Control method for tracking motion speed and motion track of rehabilitation training robot at the same time

A robot motion and rehabilitation training technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of neglecting speed tracking, patients unable to achieve exercise intensity, and threatening safety. And other issues

Inactive Publication Date: 2016-02-10
SHENYANG POLYTECHNIC UNIV
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AI Technical Summary

Problems solved by technology

[0003] The rehabilitation walking training robot needs to track the training trajectory specified by the doctor to train the patient. There have been many research results on the trajectory tracking control method of the rehabilitation robot. However, these results ignore the speed tracking when considering the trajectory tracking.
The robot runs in an unknown environment. If the movement speed is too fast and exceeds the patient's tolerance, the patient will be injured again and threaten its safety; if the movement speed is too slow,

Method used

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  • Control method for tracking motion speed and motion track of rehabilitation training robot at the same time
  • Control method for tracking motion speed and motion track of rehabilitation training robot at the same time
  • Control method for tracking motion speed and motion track of rehabilitation training robot at the same time

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Embodiment Construction

[0072] As shown in the figure, the present invention comprises the following steps:

[0073] Step 1) Based on the characteristics of the redundant rehabilitation walking training robot, combined with the kinematics and dynamics models, the nonlinear input-output linearization theory is applied to establish the decoupled state equation between the speed of each driving wheel and the driving force, and the motion of the system Learning model is

[0074] V = K c X · - - - ( 1 )

[0075] in

[0076] V = v 1 v ...

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Abstract

The invention belongs to the field of control of wheel type rehabilitation robots, and particularly relates to a control method for tracking the motion speed and motion track of a rehabilitation training robot at the same time, and the control method can effectively improve safety and rehabilitation effects of a trainee. According to control method provided by the invention, based on a kinematics model and a dynamics model of a rehabilitation walking training robot, a redundant freedom degree characteristic, and a nonlinear input-output linearization theory, an equation of a decoupling state between rotating speed and driving force of each driving wheel is established; a driving force controller is designed, and based on the decoupling state equation, asymptotic tracking of the motion speed of the rehabilitation walking training robot is realized; and further, based on the driving force controller together with a nonlinear feedback control law, and based on a rehabilitation walking training robot dynamics model, asymptotic tracking of the motion track is realized.

Description

technical field [0001] The invention belongs to the control field of wheeled rehabilitation robots, and in particular relates to a control method for simultaneous tracking of a rehabilitation training robot's motion speed and motion trajectory. Background technique [0002] With the arrival of an aging society, the number of patients with walking dysfunction is increasing year by year due to reasons such as diseases and traffic accidents. However, the lack of medical resources and high medical expenses in our country make many patients miss the best recovery period, which leads to the gradual loss of walking function of patients and brings a heavy burden to the family and society. Therefore, it is of great significance to develop rehabilitation robots to train patients' walking function in a timely and effective manner. [0003] The rehabilitation walking training robot needs to track the training trajectory specified by the doctor to train the patient. There are many resea...

Claims

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Application Information

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IPC IPC(8): G05D1/02A61H1/00
CPCA61H1/00A61H2201/1207G05D1/0272G05D2201/0212
Inventor 孙平刘博孙桐李树江薛伟霖常洪彬
Owner SHENYANG POLYTECHNIC UNIV
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