基于安全性考虑的五自由度外骨骼式上肢康复机器人自适应控制

针对一类具有特殊安全性要求的五自由度外骨骼上肢康复机器人,研究了一种自适应控制策略。该机器人协助患者的肩、肘、腕关节进行关节运动,以达到上肢运动功能康复的目的,因此,在整个康复训练中如何保证患者安全是机器人控制策略的重点。为确保良好的跟踪性能,所提出的控制策略具有在模型不确定条件下的鲁棒性;为进一步提高系统在大参数变化以及执行器故障时的安全性能,提出了一种在线更新的自适应控制器。该控制器仅需要进行位置测量实现输出信息反馈,而速度和加速度通过观测器估计得到,不需要依靠其他传感器信息。设计了一个参数可调和有界误差的轨迹跟踪实验,仿真结果验证了本控制方案的有效性。

A safety-oriented adaptive control of 5-DOF upper-limb exoskeleton rehabilitation robot

An adaptive control strategy is studied for 5-DOF upper-limb exoskeleton rehabilitation robot with a special safety con-sideration.The safety requirement plays a critical role of robot control strategy during the clinical treatment when the robot is used to assist patients with shoulder,elbow and wrist joint movements.With the objective of assuring the tracking performance on the pre-specified operations,the proposed adaptive controller is firstly designed to be robust under the conditions of model un-certainties.An on-line updated adaptive controller is proposed to further improve the safety and fault-tolerance in the presence of large parameter variances or even actuator faults.The controlled can generate the feedback based on location measurements from an adaptive observer without any additional sensors.A simulation is designed to track an output with tunableand bounded error. The experiment verifies the effectiveness of the proposed control strategy.