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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part H. Journal of Engineering in Medicine >Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient's limb
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Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient's limb

机译：考虑患者肢体不希望的扭矩的下肢康复机器人的设计与控制

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摘要

This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dynamic models of the knee and ankle rehabilitation robot are derived. Furthermore, a super-twisting nonsingular terminal sliding mode control is developed to achieve the desired training missions and its results are compared with those of an adaptive sliding mode control. To reduce undesired interaction torques between knee and ankle rehabilitation robot and patient, an admittance control algorithm is added to the controller to guarantee a safe therapy session. The admittance super-twisting nonsingular terminal sliding mode control structure is considered as the novelty of this article. Taking into account the dynamic uncertainties, external disturbances, and the interaction torques, the validity of the admittance super-twisting nonsingular terminal sliding mode control controller is approved by various numerical simulations over the admittance adaptive sliding mode control.
机译：本研究介绍了一种新型外骨骼型康复机器人，可用于脑卒中后患者的下肢康复治疗。提出了一种新型膝踝关节康复机器人的设计方案。推导了膝关节和踝关节康复机器人的运动学和动力学模型。此外，为了实现期望的训练任务，本文提出了一种超扭转非奇异终端滑模控制，并将其结果与自适应滑模控制的结果进行了比较。为了减少膝关节和踝关节康复机器人与患者之间不期望的交互力矩，控制器中增加了一个导纳控制算法，以保证治疗过程的安全。导纳超扭转非奇异终端滑模控制结构被认为是本文的创新之处。考虑到动态不确定性、外部干扰和相互作用力矩，通过对导纳自适应滑模控制的各种数值仿真，验证了导纳超扭非奇异终端滑模控制器的有效性。

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