Adaptive active interactive control for lower limb rehabilitation robots with uncertainties

被引：1
|
作者：
Chen J. [1 ]
Li Y. [1 ]
Zeng J. [1 ]
机构：
[1] School of Aerospace Engineering, Xiamen University, Xiamen
来源：
Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | 2021年 / 52卷 / 12期
关键词：
Active interactive control; Impedance models; Lower limb rehabilitation robots; Neural networks; Uncertainties;
D O I：
10.11817/j.issn.1672-7207.2021.12.013
中图分类号：
学科分类号：
摘要：
An adaptive interactive control design problem was investigated for lower limb rehabilitation robots with uncertainties in active rehabilitation training. An interactive control strategy based on impedance models was proposed for the lower limb rehabilitation robots, achieving the flexibility of human-machine systems. Firstly, the terminal position of the lower limb rehabilitation robot was adjusted by an impedance model to ensure the flexibility of human-machine interaction. Secondly, a tracking control strategy was designed based on the feedforward-feedback composite control idea. On the one hand, the uncertainties of model parameters and external disturbances for the lower limb rehabilitation robot were regarded as the total disturbances, which were estimated by RBF neural networks to realize feedforward compensation. On the other hand, a feedback PD controller was utilized to achieve the trajectory tracking in active rehabilitation training and ensure the stability of the closed-loop system. Finally, the influence of different impedance parameters on the control system was analyzed by simulations and the validity of the proposed method was further verified. The results show that the designed control strategy can make the lower limb rehabilitation robots continuously adjust and track the gait trajectory according to the change of human-machine interaction force. Good flexibility and high-precision tracking performance were achieved and the needs of patients' active rehabilitation training were satisfied. © 2021, Central South University Press. All right reserved.
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页码：4325 / 4335
页数：10
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