Upper limb rehabilitation robot control method based on adaptive online learning

A rehabilitation robot and adaptive controller technology, applied in computer control, program control, general control system, etc., can solve problems such as poor tracking performance, affect the wearer's movement, endanger the wearer's safety, etc., and achieve strong anti-interference ability Effect

Active Publication Date: 2020-01-10
SHANGHAI UNIV
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AI Technical Summary

Problems solved by technology

If the tracking performance of the upper limb rehabilitation robot is poor, the human-machine interaction force will increase, which will affect the wearer's movement and even endanger the wearer's safety.
[0003] The upper limb rehabilitation robot system is a strongly coupled and highly nonlinear system, and it is difficult to establish an accurate mathematical model in the actual system

Method used

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  • Upper limb rehabilitation robot control method based on adaptive online learning
  • Upper limb rehabilitation robot control method based on adaptive online learning
  • Upper limb rehabilitation robot control method based on adaptive online learning

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Experimental program
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Embodiment 1

[0040] A control method for an upper limb rehabilitation robot based on adaptive online learning, the specific steps are as follows:

[0041] a. Establish the model of the upper limb rehabilitation robot:

[0042] For the single arm (left arm or right arm) model of the upper limb rehabilitation robot, only the shoulder joint and elbow joint of the single arm are considered, the model is simplified, and the dynamic model of the upper limb rehabilitation robot is established by using the Lagrangian dynamic equation as follows:

[0043]

[0044] where q=[q 1 q 2 ] T ,q 1 is the movement angle of the shoulder joint of the upper limb rehabilitation robot, q 2 is the motion angle of the elbow joint of the upper limb rehabilitation robot. m 1 =1kg, m 2 = 1.2kg, l 1 = 0.3m, l 2 =0.35m, g=9.8m / s 2 .

[0045] b. Adaptive online learning control

[0046] The upper limb rehabilitation robot controller based on adaptive online learning is as follows:

[0047]

[0048] ...

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Abstract

The invention discloses an upper limb rehabilitation robot control method based on adaptive online learning, and belongs to the field of upper limb rehabilitation robot control system design. The method comprises the operating steps of 1) using Lagrange's kinetic equation to establish a dynamic model of the single-arm system of the upper limb rehabilitation robot; 2) designing a control system model of the upper limb rehabilitation robot based on adaptive online learning; 3) establishing a control simulation model for adaptive online learning of the upper limb rehabilitation robot in MATLAB / Simulink; and 4) through simulation experiments, analyzing the angle and angular velocity tracking errors, and the error convergence of the upper limb rehabilitation robot under the adaptive online learning control method. The method of the invention has innovative and simulation basis, can solve the defects of large errors and insufficient robustness in the motion control of the existing upper limbrehabilitation robot, and has great guiding significance for the design of the upper limb rehabilitation robot control system.

Description

technical field [0001] The invention relates to an upper limb rehabilitation robot control method based on self-adaptive online learning, which is applied in the field of human-machine cooperative motion control for upper limb rehabilitation. Background technique [0002] With the rapid development of robot technology, the application field of robots has penetrated from the traditional industrial field to daily life, and the upper limb rehabilitation robot is a research hotspot at present. Upper limb rehabilitation is a wearable human-machine integrated mechanical device, which can reconstruct or enhance the wearer's upper limb movement ability, and has broad application prospects in the fields of medical rehabilitation, human-machine collaborative work or military disaster relief. In order to realize the assisting function of upper limb rehabilitation, it is required that the upper limb rehabilitation needs to strictly track the wearer's upper limb movement trajectory, whil...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/408A61H1/02
CPCG05B19/4086A61H1/0274G05B2219/35356
Inventor 任彬王耀
Owner SHANGHAI UNIV
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