An adaptive trajectory planning method based on amplitude-frequency cooperation

By using an adaptive trajectory planning method based on amplitude-frequency coordination, the frequency and amplitude of the rehabilitation robot's motion trajectory are dynamically adjusted, solving the problem of mismatched training intensity in existing technologies and improving rehabilitation effects and the compliantness of human-computer interaction.

CN122442674APending Publication Date: 2026-07-24CHANGCHUN UNIV OF TECH
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Patent Information

Application Number
CN202610912622.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-24
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing rehabilitation robots cannot adjust the frequency and amplitude of movement trajectories in real time according to changes in the patient's muscle strength, resulting in mismatched training intensity and affecting rehabilitation outcomes.

Method used

An adaptive trajectory planning method based on amplitude-frequency coordination is adopted. A basic reference trajectory is generated through dynamic motion primitives, and combined with an adaptive admittance controller and a fuzzy logic controller, the trajectory frequency and amplitude are adjusted in real time to achieve smooth human-computer interaction.

Benefits of technology

It enables real-time adjustment of trajectory frequency and amplitude based on the patient's level of active participation, improving the effectiveness of rehabilitation training and the smoothness of human-computer interaction.

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Abstract

The application provides an adaptive trajectory planning method based on amplitude-frequency cooperation, and relates to the fields of rehabilitation robots and intelligent control technologies.The method first constructs a super-helix torque estimator based on generalized momentum to realize human-robot interaction torque estimation without sensors;frequency adjustment factors and a fuzzy adaptive admittance controller are introduced to adaptively adjust the amplitude-frequency cooperative basic reference trajectory learned by a dynamic motion primitive;and finally, a position controller is used to realize trajectory tracking.Compared with existing trajectory methods based on fixed trajectories or only adjusting frequencies, the application can simultaneously adjust the frequency and amplitude of the trajectory, is more in line with human motion rules, and can effectively improve the compliance of rehabilitation training.
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