Control method of lower limb rehabilitative robot based on combination of robust control and admittance control

A rehabilitation robot and robust control technology, applied in passive exercise equipment, physical therapy and other directions, can solve problems such as difficulty in offsetting external interference, and achieve the effect of increasing robustness, eliminating interference factors, and achieving good control effects.

Inactive Publication Date: 2019-05-28
SUN YAT SEN UNIV
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  • Summary
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Problems solved by technology

However, most admittance-controlled position controllers are based on Proportional Integral Diff

Method used

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  • Control method of lower limb rehabilitative robot based on combination of robust control and admittance control
  • Control method of lower limb rehabilitative robot based on combination of robust control and admittance control
  • Control method of lower limb rehabilitative robot based on combination of robust control and admittance control

Examples

Experimental program
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Embodiment 1

[0029] In this example, refer to the attached figure 1 , the control method for the rehabilitation robot is:

[0030] S1: Collect the angle signal q of the hip, knee and ankle joint positions, and collect the human-computer interaction torque signal τ int ;

[0031] S2: The human-computer interaction torque signal τ measured in real time int Enter the admittance controller, where the expression of the admittance controller is where τ int is the human-computer interaction torque, B and K are the damping and stiffness of the lower limbs respectively, and the desired angle correction signal Δq is obtained;

[0032] S3: Set the preset reference angle q r Superimposed with Δq to obtain the desired joint angle q d ;

[0033] S4: Superimpose the joint expected angle and the joint angle signal to obtain the angle error e; the joint expected angle q d , the joint angle q and the angle error e are input into the dynamic model; Get the ideal joint torque τ s,d ; Input the ang...

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Abstract

The invention discloses a control method of a lower limb rehabilitative robot based on the combination of robust control and admittance control. A robust controller is added in traditional admittancecontrol, so that a whole control system has the flexibility of the admittance control and anti-interference performance of the robust control; furthermore, shaking influences of system friction and the robust control are also considered and are compensated and balanced, so that the control precision is wholly improved.

Description

technical field [0001] The invention relates to the field of rehabilitation robot control, in particular to a control method of a lower limb rehabilitation robot based on the combination of robust control and admittance control. Background technique [0002] At present, there are many control algorithms for lower limb rehabilitation robots. Most of the early control algorithms are passive control, that is, trajectory tracking control. The control robot drives stroke patients to move according to a preset fixed trajectory. Active participation of patients. In recent years, the admittance control algorithm is more commonly used in rehabilitation robots. Different from the fixed expected trajectory of passive control, the admittance control can correct the expected trajectory in real time according to the human-computer interaction force, so as to consider the patient's active participation and achieve human-machine compliance to a certain extent. sex. However, most admittan...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 宋嵘申志航
Owner SUN YAT SEN UNIV
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