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...

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