School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
Int J Med Robot. 2023 Apr;19(2):e2469. doi: 10.1002/rcs.2469. Epub 2022 Nov 5.
The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue.
An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance.
The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction.
A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.
机器人辅助骨折复位手术的操作对象是具有刚柔耦合特性的肌骨组织，需要提高复位机器人与肌骨组织之间的交互柔顺性和安全性。
提出了一种基于摩擦补偿的自适应变阻抗位/力跟踪控制策略。根据末端执行器与环境之间的接触力，可自适应调整复位机器人的刚度。推导出分支链电动缸的 Stribeck 摩擦力模型，以提高运动控制性能。
完成了骨折复位实验。实验结果表明，自适应变阻抗位/力控制策略可以实现骨折复位过程中的位置和力跟踪。
提出并应用了一种安全控制策略，用于机器人辅助骨折复位手术，提高了复位机器人与患者之间人机交互的协调性和柔顺性。
