Knee joint rehabilitation robot system and human-machine compliance control method thereof

Abstract

The invention discloses a knee joint rehabilitation robot system and a human-machine compliance control method thereof. The system comprises a thigh rod, a calf rod, a motor and a transmission system;the transmission system comprises a load slider, a guide nut and a lead screw; the motor and the lead screw are fixed to the thigh rod; the load slider is fixed to the calf rod; the motor drives theguide nut to move horizontally through the screw; and the guide nut drives the calf rod to move through the load slider. The control method includes: position control for follow-up control in a swingperiod and a pre-tightening phase; direct force control for a later pre-tensioning phase and a buckling assist phase; and admittance control for an extended assist phase. The system and method has theadvantages of simple structure, convenient use and good control effect.

Description

technical field [0001] The invention mainly relates to the technical field of robots, in particular to a knee joint rehabilitation robot system and a human-machine compliant interactive control method thereof. Background technique [0002] my country is facing the increasingly serious problem of aging and a large number of disabled people. The research, development and application of rehabilitation robots and intelligent assistance systems are expected to provide powerful technical means for solving the problems of elderly care, disability assistance and rehabilitation. Rehabilitation robot was created and developed in response to the shortcomings of traditional rehabilitation training methods. It is an automated rehabilitation training device that combines advanced robotics technology with clinical rehabilitation medicine. It can give full play to the advantages of robots that are good at performing repetitive and heavy labor. , and can realize precise, automatic and intell...

AI Technical Summary

Problems solved by technology

However, the myoelectric sensor has high requirements on the installation position, the calibration is troublesome, and it is easily affected by sweat and sensor position sliding during use. These shortcomings hinder the wide use of the myoelectric sensor in practical applications.

[0007] 4. In most lower extremity rehabilitation robot products, the power assist will linearly decay from the actual position of the joint (joint angle) to the expected position of the joint (joint angle), so that the wearer will have a feeling: "At first the power is obvious, stand up Sometimes the booster is a bit weak" feeling, and at the same time it will affect the effect of rehabilitation training

Therefore, the switching of the control method will cause a sudden change in the control amount, which will easily cause system tremors.

The other is that in the position following control, it is easy to cause system tremor near the zero crossing point

Images