Human-computer interaction force identification and control method for rehabilitation walking training robot

A technology of walking training and control methods, which is applied in general control systems, adaptive control, control/regulation systems, etc., and can solve problems such as the difficulty in designing tracking controllers for rehabilitation walking training robots

Active Publication Date: 2020-12-29
SHENYANG POLYTECHNIC UNIV
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AI Technical Summary

Problems solved by technology

Since the human-computer interaction force is a time variable, it is difficult to obtain it directly in practical applications, which brings difficulty to the design of the tracking controller of the rehabilitation walking training robot

Method used

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  • Human-computer interaction force identification and control method for rehabilitation walking training robot
  • Human-computer interaction force identification and control method for rehabilitation walking training robot
  • Human-computer interaction force identification and control method for rehabilitation walking training robot

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Embodiment Construction

[0058] The present invention is achieved through the following technical solutions:

[0059] 1) Aiming at the generalized control input force in the dynamic model of rehabilitation walking training robot, it is decomposed into tracking control force and human-computer interaction force, and a robot system dynamic model with human-computer interaction force is obtained;

[0060] 2) Taking the human-computer interaction force as the extended state of the system, using the real-time position output of the robot, designing a system observer combining constant gain and time-varying gain to estimate the human-computer interaction force;

[0061] 3) Design the Lyapunov function based on the state observation error, trajectory tracking error and velocity tracking error to make the observation error system and tracking error system asymptotically stable; at the same time, obtain the solution method of the observer gain and human-computer interaction force, and according to the obtained ...

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Abstract

The invention discloses an identification control method for compensating man-machine interaction force of a rehabilitation walking training robot. Aiming at the generalized control input force in the dynamic model of rehabilitation walking training robot, it is decomposed into tracking control force and human-computer interaction force, and a system dynamic model with human-computer interaction force is obtained; the human-computer interaction force is taken as the system The extended state of the robot, using the real-time position output of the robot, design a system observer combining constant gain and time-varying gain to estimate the human-computer interaction force; design the Lyapunov function based on the state observation error, trajectory tracking error and speed tracking error, so that the observation The error system and the tracking error system are asymptotically stable. The control method obtains the human-computer interaction force by designing a novel system extended state observer, and uses compensation control to eliminate the influence of the human-computer interaction force on the tracking performance and improve the tracking accuracy and system of the rehabilitation walking training robot security.

Description

technical field [0001] The invention belongs to the control field of wheeled rehabilitation robots, and in particular relates to a human-computer interaction force identification and control method of a rehabilitation walking training robot. Background technique [0002] With the aging of the world, the elderly population is increasing year by year. Due to the weakening of the leg muscles of the elderly, the walking function is gradually declining. If the walking training of the elderly is not strengthened in time, the walking function will be lost and they will not be able to achieve independent living. Therefore, it is of great significance to develop rehabilitation walking training robots to accurately track the training trajectory specified by doctors and help the elderly to walk safely. [0003] In recent years, there have been many research results on trajectory tracking control methods for rehabilitation walking training robots, but these results have not considered t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙平张文娇孟奇张帅刘佳斌单芮
Owner SHENYANG POLYTECHNIC UNIV
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