Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Self-adaptive compliance control method for upper limb rehabilitation exoskeleton robot

An exoskeleton robot, flexible control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor adaptability, achieve good real-time performance, high control accuracy, strong robustness and anti-interference ability Effect

Active Publication Date: 2020-06-16
NORTHWESTERN POLYTECHNICAL UNIV
View PDF10 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Patent CN104626168A adopts force-position compliant robot control, which is suitable for rigid environment interaction, but not suitable for human-computer interaction environment under rehabilitation training, so the adaptability of this control method is not strong

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Self-adaptive compliance control method for upper limb rehabilitation exoskeleton robot
  • Self-adaptive compliance control method for upper limb rehabilitation exoskeleton robot
  • Self-adaptive compliance control method for upper limb rehabilitation exoskeleton robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0112] Use MATLAB / Simulink to carry out the trajectory tracking experiment simulation analysis of the upper limb rehabilitation exoskeleton robot in the passive mode on the adaptive compliant control algorithm. In the embodiment, an adult man with a height of 175cm and a weight of 65kg is used as the analysis object. Inertia parameters of human upper limbs are obtained from the two national standards GB / T10000-88 "Body Size of Adults".

[0113] From figure 2 and image 3 It can be seen that the motion curve of the manipulator is relatively smooth, with good continuity and small hysteresis, and the angle change curve of the two joints is highly coincident with the ideal angle change curve, which proves the stability and good trajectory of the manipulator. Follow performance.

[0114] From Figure 4 and Figure 5 It can be seen that the overall response speed of the joint angle of the controller is faster, the following state is better, and there is no obvious step.

[011...

Embodiment 2

[0117] Using MATLAB / Simulink to carry out the simulation analysis of the trajectory tracking experiment of the upper limb rehabilitation exoskeleton robot in the active mode of the adaptive compliant control algorithm.

[0118] From Figure 7 and Figure 8 It can be seen that the angle in the active mode can basically achieve a certain offset according to the force signal, and realize the adjustment of the trajectory according to the subject's intention, and the effect of soft control is better.

[0119] From Figure 9 and Figure 10 It can be seen that the force sensor detects obvious force changes in the two directions of x and y and responds quickly, and the curve is relatively smooth, and the noise and jitter are very small.

[0120] From Figure 9 — Figure 12 It can be seen from the figure that the deviation of the actual angle from the expected angle is consistent with the change trend of the interaction force data curve.

[0121] Figure 13 Shown is the paramete...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a self-adaptive compliance control method for an upper limb rehabilitation exoskeleton robot, which belongs to the field of robot control. The control algorithm is composed oftwo parts: a first part is an admittance control module which is set as a control outer ring and can establish a dynamic relationship between interaction force between a patient and an exoskeleton andrehabilitation training track adjustment amount, so that the patient can remodel a rehabilitation training track according to own active intention; and a second part is a self-adaptive sliding mode control module which is set as a control inner ring and is used for realizing accurate tracking control on an expected training track and a position adjustment amount, and the control precision and thesystem stability are mostly dependent on the position control of an inner ring. The method is high in control precision, has high robustness and anti-interference capability for uncertain factors ofthe system, and is good in real-time performance.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to an adaptive compliance control method for an upper limb rehabilitation exoskeleton robot. Background technique [0002] The safety and compliance of the existing control methods need to be improved, and due to the complexity of the mechanical structure, such as nonlinear friction, clearance and the complexity of the robot actuator, it is difficult to obtain the parameters of the exoskeleton robot accurately. In addition, the dynamic characteristics of the subject will vary depending on the physiological condition of the subject. Therefore, the current control methods are not adaptive in the presence of dynamic and motion uncertainties and unknown disturbances in the system. [0003] Patent CN104626168A designs a robot force-position compliance control algorithm based on impedance control, predicts the interaction force between the robot and the environment through the pr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): A61H1/02B25J9/00B25J9/16B25J19/00B25J19/02G16H40/60
CPCA61H1/0274A61H2201/1207A61H2201/1659A61H2201/50A61H2201/5061A61H2205/06B25J9/0006B25J9/16B25J19/00B25J19/02G16H40/60
Inventor 袁小庆赵艺林陈浩盛岳芳芳王文东
Owner NORTHWESTERN POLYTECHNICAL UNIV
Features
  • Generate Ideas
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com