Abstract:A mechanism model of a six-linkage walking assistant rehabilitation robot is presented to help the aged and hemiplegic patients walk with natural gait.Considering the weight difference among patients and the changes in muscular tension of lower limbs during assisted-walking training,a robust controller with anti-jamming performance is designed based on the robot dynamics analysis.It is proved by Lyapunov theory that the controller can suppress the influence from external interference signals effectively.The robust control experiment results show that the controller can suppress the influence of load variations and uncertain disturbance,
[1] 程方.王人成,贾晓红,等.减重步行康复训练机器人研究进展[J].中国康复医学杂志,2008,23(4):366-368.Cheng F,Wang R C,Jia X H,et al.The development of partill body weight support treadmill training[J].Chinese Journal of Rehabilitation Medicine,2008,23(4):366-368.
[2] 平伟,顿向明,陈卫东.助行机器人研究发展和展望[J].机器人技术与应用,2009(1):32-34.Ping W,Dun X M.Chen W D,et al.The general overview of research on assistance robot[J].Robot Technique and Application,2009(1):32-34.
[3] 孙立宁,何富君,杜志江,等.辅助型康复机器人技术的研究与发展[J],机器人,2006,28(3):355-360.Sun L N,He F J,Du Z J,et al.Research and development of assistive rehabilitation robotics[J].Robot,2006,28(3):355-360.
[4] Kong K C,Jeon D Y.Fuzzy control of a new tendon-driven exoskeletal power assistive device[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Piscataway,NJ,USA:IEEE,2005:146-151.
[5] Kawamoto H,Sankai Y.Power assist system HAL-3 for gait disorder person[M]//Lecture Notes in Computer Science:vol.2398.London,UK:Springer-Verlag,2002:19-29.
[6] Nakamura T,Saito K,Kosuge K.Control of wearable walking support system based on human-model and GRF[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2005:4394-4399.
[7] Agrawal S K,Banala S K,Fattah A,et al.Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2007,15(3):410-420.
[8] Bernhardt M,Frey M,Colombo G,et ai.Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT[C]//9th International Conference on Rehabilitation Robotics.Piscataway,NJ,USA:IEEE,2005:536-539.
[9] 方郁.可穿戴下肢助力机器人动力学建模及其控制研究[D].合肥:中国科学技术大学,2009.Fang Y.Research on dynamic analysis and control of the wearable power assist robot[D].Hefei:University of Science and Technology of China,2009.
[10] Zhang J F,Dong Y M,Yang C J.5-link model based gait trajectory adaption control strategies of the gait rehabilitation exoskeleton for post-stroke patients[J].Mechatronics,2010,20(3):368-376.
[11] 赵芳,周兴龙.老年人站立及行走稳定性的生物力学研究[J].北京体育大学学报,2003,26(2):188-191.Zhao F,Zhou X L.Biomechanical study on the standing and walking stability of the aged:A review[J].Journal of Beijing University of Physical Education,2003,26(2):188-191.
[12] 杨家军.机械原理[M].武汉:华中科技大学出版社,2009:42.Yang J J.Mechanical theory[M].Wuhan:Huazhong University of Science and Technology Press,2009:42.
[13] 洪炳镕,蔡则苏,唐好选.虚拟现实及其应用[M].北京:国防工业出版社,2005:124.Hong B R,Cai Z S,Tang H X.Virtual reality and application[M].Beijing:National Defense Industry Press,2005:124.
[14] 伊蕾,张立勋,于彦春.六连杆助行机构的动力学分析及仿真研究[J].中国康复医学杂志,2010,25(7):662-666.Yi L,Zhang L X,Yu Y C.Dynamic analysis and simulation study on six-bar linkage walking assistance mechanism[J].Chinese Journal of Rehabilitation Medicine,2010,25(7):662-666.
[15] 解仑,王志良,王冲,等.一种类人机器人步行鲁棒控制器[J].机器人,2010,32(4):484-490.Xie L,Wang Z L,Wang C,et al.A robust walking control system of humanoid robot[J].Robot,2010,32(4):484-490.