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Hip joint rehabilitation robot track and speed tracking self-adaptive control method

A rehabilitation robot and adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as tracking speed without consideration of rehabilitation training, patient discomfort, unsafety, etc.

Active Publication Date: 2016-11-09
HEBEI NORMAL UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
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  • Application Information

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Problems solved by technology

In addition, this literature does not consider the problem of tracking speed during rehabilitation training. If the tracking speed is too fast, patients may feel uncomfortable or even unsafe

Method used

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  • Hip joint rehabilitation robot track and speed tracking self-adaptive control method
  • Hip joint rehabilitation robot track and speed tracking self-adaptive control method
  • Hip joint rehabilitation robot track and speed tracking self-adaptive control method

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Embodiment

[0083] The present invention is an adaptive control method for trajectory and speed tracking of a hip joint rehabilitation robot, which is applied to a hip joint rehabilitation robot. The hip joint rehabilitation robot includes 1 rotary driver and 4 linear drivers, and the rotary driver is used to drive the robot. Actively rotate the joint to train the adduction and abduction of the patient's hip joint. The linear driver is used to drive the active moving joint of the robot to train the flexion and extension of the patient's hip joint. The trajectory and speed tracking of the hip joint rehabilitation robot automatically The adaptive control method is implemented through the following steps:

[0084] Step 1, according to the physiological function of the human hip joint, design the expected tracking trajectory of rehabilitation training as follows:

[0085] Step 1.1, in order to train the adduction and abduction of the right hip joint, the expected tracking trajectory of the ro...

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Abstract

The invention belongs to the technical field of automatic control and relates to a hip joint rehabilitation robot track and speed tracking self-adaptive control method. Under the condition that model parameters are uncertain, a self-adaptive control law is designed so that a hip joint rehabilitation robot can guarantee rehabilitation training of patients at a proper speed. The method includes the main steps that firstly, an expected tracking track of rehabilitation training is designed according to hip joint physiological functions of a human body; secondly, according to the expected tracking track of rehabilitation training, output change ranges of drivers in the dynamic process are limited; thirdly, an unknown function in a kinetic equation and a bound function of unknown control gain are given; fourthly, track tracking errors and speed tracking errors are calculated; fifthly, the self-adaptive control law is designed by means of a layered fuzzy logic system and a fuzzy logic system. The method has the advantages of being safe, reliable, high in control precision and good in instantaneity.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an adaptive control method for track and speed tracking of a hip joint rehabilitation robot. Background technique [0002] In recent years, with the intensification of the aging society, the population with physical disabilities caused by stroke, spinal cord injury, traumatic brain injury and other reasons has increased rapidly. However, the existing rehabilitation medical resources in our country are in short supply, and the rehabilitation treatment methods commonly used in my country have problems such as high personnel consumption and long rehabilitation period. The research and development of rehabilitation robots and intelligent assistance systems is expected to effectively alleviate the contradiction between supply and demand of rehabilitation medical resources. [0003] The hip joint is an important bone joint in the human body. It is a multi-axis joint that can...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B23/04G05B13/04
CPCA61H1/0244A61H2201/1215A61H2201/14A61H2201/5007A61H2205/088A63B23/0482G05B13/0275G05B13/04
Inventor 孙多青马晓英董丽沙吕金凤毛学志俞百印武利猛
Owner HEBEI NORMAL UNIVERSITY OF SCIENCE AND TECHNOLOGY
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