CN102058464A - Motion control method of lower limb rehabilitative robot - Google Patents
Motion control method of lower limb rehabilitative robot Download PDFInfo
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Abstract
The invention relates to a motion control method of a lower limb rehabilitative robot. In the method, aiming at different rehabilitation stages of a patient, two working modes of passive training and active training are carried out: under the mode of passive training, the patient is driven by controlling the robot to finish specific motions or motion according to a right physiological gait track; abnormal motions of the patient are completely restrained; and the patient passively follows the robot to do walking rehabilitation training; under the mode of active training, limited abnormal motions of the patient are restrained by the robot; through a real-time detection on joint driving forces generated when the patient acts on the robot in the motion process, human-computer interaction moment is extracted by utilizing an inverse dynamic model to judge the active motion intention of lower limbs of the patient; and the interaction moment is converted into correction value of gait track by utilizing an impedance controller to directly correct or generate the gait training track the patient expects through an adaptive controller, therefore, the purpose that the robot can provide auxiliary force and resistant force for the rehabilitation training can be indirectly realized. By means of the motion control method of the lower limb rehabilitative robot, rehabilitation training motions suitable for different rehabilitation stages can be provided for a dysbasia patient, thereby enhancing active participation degree of the rehabilitation training of the patient, building confidence of the rehabilitation and positivity of the motion, and then enhancing effect of the rehabilitation training.
Description
Technical field
The present invention relates to the motion control method of a kind of lower limb rehabilitation robot.Be mainly used in the walking rehabilitation training that the lower extremity motor function impaired patients is arranged that nervous system disease such as spinal cord injury, apoplexy cause.
Background technology
In recent years, the lower extremity motor function impaired patients that central nervous system disease such as spinal cord injury, apoplexy cause is the trend of rapid increase, and human beings'health in serious harm.The Unweighting walking training is that existing vast amount of clinical has confirmed its effectiveness at one of important means of such disease patient walking rehabilitation treatment.Traditional Unweighting walking physical training condition manually usually as shown in Figure 1, the patient is suspended on the Active foot plate by weight reducing device, balance is safeguarded in the heavy burden of lower limb minimizing simultaneously when making patient's walking, and need two or above therapist or rehabilitation teacher to stand in around the patient, do the walking movement of similar body gait by various maneuvers guiding patient lower limb.This manually auxiliary weight-losing, the training time is short, and training effectiveness is low, and working strength is big; Training effect and therapist or rehabilitation's teacher technology and experience are closely related, are difficult to accurately keep the concordance of rehabilitation training action; Ignored by the active exercise of therapist intention, lacked the feedback of treatment information, the initiative that causes the patient to participate in treating is not enough.
, robotics is combined with rehabilitation medicine, the replacement therapy teacher of lower limb rehabilitation robot of development automatization finishes hemiplegic patient's Unweighting walking training for this reason.Domestic and international many research worker are being carried out the research work of healing robot at present, but these healing robots, the training action kind is fewer, actuating range has limitation, and motion amplitude is less, and majority has been ignored the active exercise intention of patient's lower limb, the real-time feedback that lacks treatment information, be unfavorable for exciting patient's active consciousness, improve the interest that the patient participates in rehabilitation training, be difficult to reach ideal rehabilitation training requirement.
Summary of the invention
The problem and shortage that exists when the objective of the invention is to carry out the training of artificial Unweighting walking at the dysbasia patient, provide a kind of and can improve the initiative that the patient participates in rehabilitation training, strengthen rehabilitation of patients confidence and motion interest, be fit to patient's lower limb rehabilitation robot motion control method in different rehabilitation stages.
For achieving the above object, design of the present invention is: at patient's the different rehabilitation stage, implement passive exercise and initiatively train two kinds of mode of operations: under the passive exercise pattern, the control robot drives that the patient finishes specific motion or with correct physiology's gait orbiting motion, the abnormal motion that the patient produces is suppressed fully, and walking rehabilitation training is done by the passive robot that follows; Initiatively under the training mode, robot suppresses the limited abnormal motion of patient, act on the joint driving force that robot produces by patient in the real-time detection motor process, and then adopt inverse dynamics model to extract the active exercise intention that human-computer interaction moment is judged patient's lower limb, and utilize impedance controller mutual moment to be converted into the correction of gait track, directly revise or produce the gait training track of patient's expectation by adaptive controller, realize that indirectly robot provides the rehabilitation training auxiliary force, the purpose of resistance strengthens the degree that the patient initiatively participates in rehabilitation training.
The present invention adopts lower limbs rehabilitation training robot to replace traditional artificial loss of weight rehabilitation training.Early stage in rehabilitation training, patient's lower limb muscles lacks the ability of paleocinetic strength and heavy burden, the patient is under the exoskeleton-type robot drives fully, on treadmill with the walking of physiology's gait track of standard or finish specific fortune, adopt the position servo control strategy based on the PD feedback this moment, effectively realizes the tracking control of gait track.Improvement along with conditions of patients, patient's active consciousness strengthens, it initiatively participates in training the recovery that more helps motor function behind the central nervous system injury, therefore can detect and extract human-computer interaction moment by force transducer, set up human-computer interaction moment and depart from the impedance Control Model of being scheduled to the joint trajectories deviation, realize the impedance Control under the active training mode.And impedance Control can only produce deviation all the time based on a fixed reference locus on this track basis, is difficult to adapt to the adjustment of Different Individual gait track; And middle and late stage in the rehabilitation stage, because the incoordination of the muscle strength that patient's lower limb muscular spasm, muscular tone etc. cause, to make that the variation of human-computer interaction moment is excessive or too small, also bigger than normal or less than normal through the trajector deviation that impedance Control Model is calculated, revised gait track will be not in full conformity with physiology's rule, certainly will influence the effect of rehabilitation training, therefore propose gait track adaptive control algolithm, consider that from the overall effect the patient initiatively participates in the intention of training.
According to the foregoing invention design, the present invention adopts following technical scheme:
A kind of lower limb rehabilitation robot motion control method, it is characterized in that implementing in the different rehabilitation stages passive respectively and the active training mode: under the passive exercise pattern at the patient, the control robot drives the patient with correct physiology's gait orbiting motion, the abnormal motion that the patient produces is suppressed fully, and walking rehabilitation training is done by the passive robot that follows; Initiatively under the training mode, robot suppresses the relevant abnormal motion of patient, act on the joint driving force that robot produces by patient in the real-time detection motor process, and then adopt inverse dynamics model to extract the active exercise intention that human-computer interaction moment is judged patient's lower limb, and utilize impedance controller mutual moment to be converted into the correction of gait track, directly revise or produce the gait training track of patient's expectation, realize that indirectly robot provides auxiliary force, the resistance of rehabilitation training by adaptive controller.
To morning, the mid-term in patient's rehabilitation stage, comprise the phase of collapsing from physical exhaustion and spasm period, adopt described passive rehabilitation training pattern, the patient is under the drive fully of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish the motion of setting, stimulate the sensation of patient to proper exercise, the muscular spasm and the abnormal motion that suppress the patient, and the angle, angular velocity that detect each joint in the rehabilitation training in real time are as feedback signal, employing is based on the position servo control method of PD feedback, and the moving patient of the driving device bottom bands of trouser legs realizes walking rehabilitation training.
To the intermediary and later stages in patient's rehabilitation stage, comprise spasm period and improvement phase, adopt described active rehabilitation training pattern, in the rehabilitation training process, utilize the pull pressure sensor of installing behind the joint driver to be captured in real time and suffer from each the joint driving force that is produced under the limb active role power, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain patient's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of patient's expectation; Or the correct physiology's gait track in each joint of n item Fourier expansion formula The Fitting Calculation before adopting, determine its initializer, with each joint gait trajectory parametersization, each joint adopts 3 trajectory parameters to represent the zoom factor of joint angles amplitude respectively, realizes the adjusting of training stride again; The regulatory factor of gait cycle; The side-play amount of joint angles, the sole of the foot that can change the bending of hip joint and span, kneed amount of bow, ankle joint is bent and is crooked.The best square approach method of the Euclid norm by each joint trajectories deviation is set up object function then, with corresponding trajectory parameters initial value object function is utilized gradient method iterative joint angles trajectory parameters in each gait cycle scope, the parameterized gait track of The Fitting Calculation from the overall effect, and then the track of generation patient expectation, and be input in the joint of robot endocyclic position controller, the servomotor of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the ambulation training track according to patient's active exercise intention, realize that indirectly robot provides the rehabilitation training auxiliary force, the purpose of resistance strengthens the degree that the patient initiatively participates in rehabilitation training.
Described active rehabilitation training pattern is a typical double closed-loop control system model, and internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback.
Lower limb rehabilitation robot motion control method of the present invention, at the different rehabilitation stage of dysbasia patient, adopt passive respectively and active rehabilitation training pattern, by the training of specific motor function and obtain the active exercise intention of patient in the rehabilitation training process, drive fully or auxiliary patient suffers from limb and realizes simple joint or walking rehabilitation motion with this driven machine people.This control strategy is being realized on the allokinetic basis preferably, introduce patient's active exercise intention, the active that has strengthened the patient participates in, help stimulating the nervus centralis that does not damage fully and excite central nervous system's function to recombinate and reconstruction, good effect has been played in the recovery of motor function behind the central nervous system injury.
The lower limb rehabilitation robot system is made up of ectoskeleton gait orthosis, weight reducing device, treadmill and control system four parts.Wherein core component ectoskeleton gait orthosis is made of two exoskeleton-type pedipulators, every pedipulator hip joint, knee joint, ankle joint have one degree of freedom, rotation that can anthropomorphic dummy three joints in the sagittal plane when walking realizes the motion of Three Degree Of Freedom.At each joint the encoder that drives orthotic linear actuator and measure the joint anglec of rotation is installed, the one dimension pull pressure sensor is installed, be used to detect the driving force that driver provides at the rear of Linear actuator.The artificial dysbasia patient of this lower limb rehabilitation machine provides the rehabilitation training campaign that is fit to the different recovery stages, it has included the training in all joints of lower limb, comprise the passive of hip, knee joint, ankle joint and the initiatively simple joint motion under the training mode, and the walking rehabilitation motion.
The present invention has following conspicuous outstanding substantive distinguishing features and remarkable advantage compared with prior art:
Adopt the lower limb rehabilitation training device of automatization to replace traditional artificial Unweighting walking training, improved efficiency of rehabilitation training and rehabilitation efficacy; Two kinds of rehabilitation training patterns satisfy patient's requirement in different rehabilitation stages; The gait cycle of rehabilitation training, stride, training time etc. all can manually or automatically be regulated, and have improved the automaticity of rehabilitation training; Can adapt to different personal feature and the rehabilitation demands of patient by regulating impedance parameter; The parametrization of gait track is easy to realize the online adjustment of gait track under the active training mode; Control strategy has been introduced patient's active exercise intention, and can show and write down the information such as speed, time, cycle, joint trajectories, driving force, human-computer interaction moment of rehabilitation training in real time by VC programming, help the patient to participate in rehabilitation training energetically, strengthen the confidence of its rehabilitation, be convenient to the rehabilitation situation of Physical Therapist's evaluating patient, make optimum rehabilitation programme.
Description of drawings
Fig. 1 is the traditional training of Unweighting walking manually sketch map;
Fig. 2 is a lower limbs rehabilitation training robot system schematic of the present invention;
Fig. 3 is an exoskeleton-type pedipulator structure chart;
Fig. 4 is that control system hardware constitutes sketch map;
Fig. 5 is a man machine interface sketch map of the present invention;
Fig. 6 is a rehabilitation training control principle block diagram of the present invention.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows: referring to Fig. 2, present embodiment lower limbs rehabilitation training robot system is made up of weight reducing device 1, ectoskeleton gait orthosis 2, treadmill 3 and switch board.The ectoskeleton gait orthosis is designed to two exoskeleton-type pedipulators (referring to Fig. 3), every pedipulator has hip joint flexion/extension, knee joint bending/stretching, extension, ankle plantar and bends/the dorsiflex three degree of freedom, rotation that can anthropomorphic dummy three joints in the sagittal plane when walking, realize the motion of Three Degree Of Freedom, at each joint ball-screw Linear actuator 4 is installed and is used to drive each joint motions of orthosis.This walking rehabilitation training system provides the simple joint motion and the walking rehabilitation motion in each joint for the patient from the rehabilitation medicine angle.6 angular transducers 6 that are installed in hip, knee joint, ankle respectively are used for measuring the joint angles of motor process, 6 pull pressure sensor 5 of installing at the rear of each Linear actuator are used to detect the driving force that driver 4 provides, two kinds of information all are used to detect the kinestate of rehabilitation training, and are applied in the different rehabilitation training patterns.
Referring to Fig. 4, present embodiment is in the rehabilitation training process, when industrial computer 14 sends command signal according to the control sequence of realizing by the VC programming, and through motion control card 13 output motor controlled quentity controlled variables in drive circuit 11, servo-driver 10 can receive instruction, and the control motor realizes that pedipulator drives the function of patient's ambulation training; Meanwhile industrial computer sends the synchronous coordination motion that instruction realizes treadmill by serial ports 8; Industrial computer 14 is gathered the signal of joint angles, driving force, limit switch 7 etc. in real time by data collecting card 12, feed back in the controller of gait track, realize the TRAJECTORY CONTROL under the different mode, and information such as current walking speed, cycle, training time, joint angles, human-computer interaction power are presented in the man machine interface 15, man machine interface is referring to accompanying drawing 5.
Referring to Fig. 6, this lower limb rehabilitation robot motion control method:, adopt passive exercise respectively and initiatively train two kinds of mode of operations at the different rehabilitation stage of patient.In the morning in patient's rehabilitation stage, mid-term, comprise the phase of collapsing from physical exhaustion and spasm period, adopt the passive rehabilitation training pattern, the patient is under the drive fully of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish specific motion, stimulate the sensation of patient to proper exercise, the muscular spasm and the abnormal motion that suppress the patient, and detect the angle in each joint in the rehabilitation training in real time, angular velocity is as feedback signal, open the impedance Control power outer shroud shown in the accompanying drawing 6, employing is based on the position servo control method of PD feedback, and the moving patient of the driving device bottom bands of trouser legs realizes walking rehabilitation training.In the intermediary and later stages in patient's rehabilitation stage, comprise spasm period and improvement phase, adopt initiatively rehabilitation training pattern, it is a typical double closed-loop control system model, internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback.Concrete operation principle is: in the rehabilitation training process, utilize the pull pressure sensor of installing behind the joint driver to be captured in real time and suffer from each the joint driving force that is produced under the limb active role power, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain patient's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of patient's expectation, ignore the gait adaptive algorithm in the impedance Control power outer shroud shown in the accompanying drawing 6 this moment; Or produce at above-mentioned impedance controller on the basis of trajector deviation, pass through adaptive control algorithm (referring to accompanying drawing 6) the parameterized gait track of The Fitting Calculation from the overall effect again, and then the track of generation patient expectation, and be input in the joint of robot endocyclic position controller, the Linear actuator of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the ambulation training track according to patient's active exercise intention, realize that indirectly robot provides the rehabilitation training auxiliary force, the purpose of resistance strengthens the degree that the patient initiatively participates in rehabilitation training.
Claims (4)
1. lower limb rehabilitation robot motion control method, it is characterized in that the different rehabilitation stage at the patient, implement passive exercise and initiatively train two kinds of mode of operations: under the passive exercise pattern, the control robot drives the patient with correct physiology's gait orbiting motion, the abnormal motion that the patient produces is suppressed fully, and walking rehabilitation training is done by the passive robot that follows; Initiatively under the training mode, robot suppresses the relevant abnormal motion of patient, act on the joint driving force that robot produces by patient in the real-time detection motor process, and then adopt inverse dynamics model to extract the active exercise intention that human-computer interaction moment is judged patient's lower limb, and utilize impedance controller mutual moment to be converted into the correction of gait track, directly revise or produce the gait training track of patient's expectation, realize that indirectly robot provides auxiliary force, the resistance of rehabilitation training by adaptive controller.
2. lower limb rehabilitation robot motion control method according to claim 1, it is characterized in that morning to patient's rehabilitation stage, mid-term, comprise the phase of collapsing from physical exhaustion and spasm period, adopt described passive rehabilitation training pattern, the patient is under the drive fully of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish the motion of setting, stimulate the sensation of patient to proper exercise, the muscular spasm and the abnormal motion that suppress the patient, and detect the angle in each joint in the rehabilitation training in real time, angular velocity is as feedback signal, employing is based on the position servo control method of PD feedback, and the moving patient of the driving device bottom bands of trouser legs realizes walking rehabilitation training.
3. lower limb rehabilitation robot motion control method according to claim 1 and 2, it is characterized in that intermediary and later stages to patient's rehabilitation stage, comprise spasm period and improvement phase, adopt described active rehabilitation training pattern, in the rehabilitation training process, utilize the pull pressure sensor of installing behind the joint driver to be captured in real time and suffer from each the joint driving force that is produced under the limb active role power, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain patient's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of patient's expectation; Or pass through the adaptive control algorithm parameterized gait track of The Fitting Calculation from the overall effect, and then generate the track of patient's expectation; And be input in the joint of robot endocyclic position controller, the Linear actuator of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the ambulation training track according to patient's active exercise intention, realize that indirectly robot provides the purpose of rehabilitation training auxiliary force, resistance, strengthen the degree that the patient initiatively participates in rehabilitation training.
4. lower limb rehabilitation robot motion control method according to claim 3, it is characterized in that described active rehabilitation training pattern is a typical double closed-loop control system model, internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback.
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Application publication date: 20110518 |