Design of motion control for lower limb rehabilitation robot

XU Zhonghua; FANG Juan; MU Zaile; CHEN Longfei

doi:10.13873/J.1000-9787(2019)09-0081-03

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Design of motion control for lower limb rehabilitation robot

更新时间：2025-09-11

- Design of motion control for lower limb rehabilitation robot
- Vol. 38, Issue 9, Pages: 81-83+87(2019)
- 作者机构：
  
  1. 江南大学机械工程学院
  2. 江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2019)09-0081-03
  CLC： TP242
- Published：2019
- 稿件说明：
移动端阅览
[1]徐中华,方娟,穆载乐,陈隆飞.下肢康复机器人的运动控制设计[J].传感器与微系统,2019,38(09):81-83+87.

XU Zhonghua, FANG Juan, MU Zaile, et al. Design of motion control for lower limb rehabilitation robot[J]. 2019, 38(9): 81-83+87.
[1]徐中华,方娟,穆载乐,陈隆飞.下肢康复机器人的运动控制设计[J].传感器与微系统,2019,38(09):81-83+87. DOI： 10.13873/J.1000-9787(2019)09-0081-03.

XU Zhonghua, FANG Juan, MU Zaile, et al. Design of motion control for lower limb rehabilitation robot[J]. 2019, 38(9): 81-83+87. DOI： 10.13873/J.1000-9787(2019)09-0081-03.

摘要

因下肢康复机器人结构设计的差异性

导致了其控制方法的多样化。针对本文的下肢康复机器人

提出了一种简单的控制方法使其沿规划轨迹进行运动。为进行控制器的设计

需要先求得机器人系统的固有传递函数。通过分析发现该系统为非线性系统

利用实验的方法近似求得其传递函数

从而转化为线性系统的控制问题。之后利用极点配置法将系统配置为一个临界阻尼二阶系统

逆推求得系统控制器的传递函数。通过对机器人的髋关节运动控制系统进行测试

测试结果表明:设计的控制器能够很好地满足实验要求。

Abstract

Due to the differences in structural design of lower limb rehabilitation robots

the control methods are diversified. A simple control method is proposed to make it move along the planned trajectory for the lower limb rehabilitation robot. In order to design the controller

it is necessary to obtain the inherent transfer function of the robot system at first. After analysis

it is found that the system is a nonlinear system

and its transfer function is approximated via experiments. And then it is changed into a linear control problem. Then pole assignment method is used to design the system as a critically damped second-order system

and the transfer function of the system controller is obtained by backstepping. After testing the hip motion control system of robot

the test results show that the designed controller can meet the requirements.

关键词

Keywords

references

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肢体运动功能恢复中步态康复机器人技术的应用 [J]. 王俊华,罗力,曾科学,周飞雄,史琳琳,李智军. 装备制造技术 . 2016(11)

康复机器人概述 [J]. 周媛,王宁华. 中国康复医学杂志 . 2015(04)

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