Compliant Control of Lower Limb Rehabilitation Exoskeleton Robot Based on Flexible Transmission

被引:9
作者
Liu, Keping [1 ,2 ]
Li, Li [1 ]
Li, Wanting [1 ]
Gu, Jian [1 ]
Sun, Zhongbo [1 ]
机构
[1] Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Peoples R China
[2] Jilin Engn Normal Univ, Dept Elect & Informat Engn, Changchun 130052, Peoples R China
基金
中国国家自然科学基金; 中国博士后科学基金;
关键词
Lower limb rehabilitation exoskeleton; Flexible control; Impedance control; Stability; IMPEDANCE CONTROL;
D O I
10.1007/s42235-022-00302-0
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human-machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.
引用
收藏
页码:1021 / 1035
页数:15
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