Trajectory Adaptation for Impedance Control BasedWalking Rehabilitation Training Robot
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摘要: 把阻抗控制理论运用到步行康复训练机器人系统中，使用基于位置的阻抗控制模型设计了系统的控制
器．提出基于阻抗模型的步态轨迹自适应算法，并分析了系统的误差．在建立的SolidWorks、Matlab、Adams 虚拟样
机联合仿真平台上进行了主动康复训练的仿真实验，并在实物样机上进行了健康训练者的实验．结果表明，该控制
器能够实现机器人根据人机交互作用力的变化不断调整步态轨迹，适应患者的步态要求，并可通过调节阻抗参数改
变步态自适应程度和训练的柔顺性，满足患者主动参与康复训练的目的．Abstract: The impedance control theory is applied to the walking rehabilitative robot system, and the location-based
impedance control model is used to design system controller. Impedance model based gait trajectory adaption algorithm is
proposed, and the system error is analyzed. SolidWorks, Matlab and Adams are integrated as a united simulation platform
for virtual prototype of the robot to develop the experiment of active training，and the experiments with healthy subjects is
implemented on physical prototype . The results shows that the robot can constantly adjust its gait trajectory according to
human-machine interaction force to meet the patients’ gait request, and the adaptive level of gait and the training flexibility
can be improved by adjusting the impedance parameters. The controller serves the purpose of patients active participating in
rehabilitation training. -
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