Xie Xiao-Liang, Hou Zeng-Guang, Li Peng-Feng, Ji Cheng, Zhang Feng, Tan Min, Wang Hongbo, Hu Guoqing
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing 100190, China.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:2263-6. doi: 10.1109/IEMBS.2010.5628008.
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector) to track a predefined trajectory. Simulation results are provided to illustrate the effectiveness of the proposed model based computed-torque algorithm. In the simulation, a multi-body dynamics and motion software named ADAMS is used. The combined simulation of ADAMS and MATLAB is able to produce more realistic results of this complex integrated system.
本文主要关注下肢康复机器人在患者被动训练过程中的轨迹跟踪控制。首先，利用拉格朗日分析方法介绍了康复机器人的数学模型。然后，设计了一种基于模型的计算转矩控制方案，以控制受约束的四连杆机器人（患者的脚固定在机器人末端执行器上）跟踪预定轨迹。给出了仿真结果以说明所提出的基于模型的计算转矩算法的有效性。在仿真中，使用了一个名为ADAMS的多体动力学和运动软件。ADAMS与MATLAB的联合仿真能够产生这个复杂集成系统更逼真的结果。
