CN106621209B - The force-feedback control method and system of wrist recovery robot power-assist training - Google Patents
The force-feedback control method and system of wrist recovery robot power-assist training Download PDFInfo
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- CN106621209B CN106621209B CN201610828311.6A CN201610828311A CN106621209B CN 106621209 B CN106621209 B CN 106621209B CN 201610828311 A CN201610828311 A CN 201610828311A CN 106621209 B CN106621209 B CN 106621209B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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Abstract
The present invention provides a kind of force-feedback control method and system of wrist recovery robot power-assist training, including force feedback part and Three-loop control part, force feedback part includes: to detect that human body wrist is applied to power/torque of wrist recovery robot by the power/torque sensor being mounted in wrist recovery robot；Institute's dynamometry/torque is scaled equivalent current；By judging that the size relation of equivalent current and equivalent current amplitude limit value determines the value of electric current loop feedforward part in Three-loop control；Three-loop control part includes position ring, speed ring, electric current loop, the input of position ring is wrist motion track data, output is given for motor speed, using speed loop section, export given value of the electric current as electric current loop, the output of force feedback part is the feedforward part input of electric current loop, motor speed value is obtained through electric current loop section, thus driving motor.Strong operability of the present invention, precision are high, stability is strong, at low cost, and it is high to control precision, strong robustness.
Description
Technical field
The present invention relates to the control fields of healing robot, and in particular, to a kind of training of wrist recovery robot power-assist
Force-feedback control method and system.
Background technique
Hemiplegic patient often suffers from wrist function obstacle, carrys out inconvenience to minimal invasive treatment's work belt.Traditional rehabilitation instruction
Practicing is usually that Physical Therapist and patient carry out one-to-one limbs training, needs to carry out suffering limb to repeat, a large amount of movement.These health
Multiple training method can improve the limb motion ability of hemiplegic patient, but one-to-one training mode, treatment to a certain extent
The large labor intensity of teacher is unable to satisfy the demand of a large amount of hemiplegic patients.For these limitations and disadvantage, medical rehabilitation robot is answered
It transports and gives birth to, and have been more and more widely used and study.
Hemiplegic patient with hand dysfunction needs to carry out the multiple degrees of freedom rehabilitation exercise training of wrist.Wrist is multi-party
Upward rehabilitation exercise, it is therefore intended that increase wrist activity and reduce soft tissue and be stained with glutinous chance.The stretching routine of wrist for
Prevent wrist injury and injured later period reduction soft tissue atrophy is helpful.
In general, healing robot is nothing more than Three models: active training mode, passive exercise mode and power-assist training mould
Formula.Under active training mode, patient's autokinetic movement, equipment tracking acquisition includes the parameters of speed, position etc..Passive exercise
Under mode, using the rehabilitation operating position information collected as given input, to drive patient to press fixation locus by equipment
Carry out rehabilitation training.
When patient's recovered part wrist function, only passive exercise mode can not better adapt to the rehabilitation demands of patient,
Therefore a kind of power-assist training mode is used, help damages human body and obtains optimal rehabilitation effect.Patient's autokinetic movement first, but due to
The damage of wrist function, patient can not be successfully movement, therefore the motion intention by judging patient, drive electricity according to motion intention
Machine, to give patient's power-assist power.In such a mode, certain information of human body itself are detected by certain method, such as
These information are fed back to controller and handled by EEG signals or electromyography signal, to realize in healing robot to electricity
The control of machine provides certain power-assisted, and patient is helped to move according to certain track.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of power of wrist recovery robot power-assist training
Feedback and system, allow the robot to by way of force feedback, are provided according to patient's wrist power, the information of torque
Certain power-assisted helps patient to complete rehabilitation training while giving full play to the locomitivity that patient has restored.Reach fast simultaneously
Speed, accurate, strong robustness control effect.
According to the first aspect of the invention, a kind of control method of wrist recovery robot power-assist training is provided, comprising: power
Feedback fraction and Three-loop control part, in which:
The force feedback part, comprising the following steps:
Step 1: detecting that human body wrist is applied to wrist by the power/torque sensor being mounted in wrist recovery robot
Power/torque of healing robot；
Step 2: institute's dynamometry/torque is scaled equivalent current；
Step 3: by judging that equivalent current and the size relation of equivalent current amplitude limit value determine electric current in Three-loop control
The value of the feedforward part of ring；
The Three-loop control part, including position ring, speed ring, electric current loop, the input of position ring are the wrist measured
Portion's motion trace data, by position loop section, obtained output is given for motor speed, and the input value as speed ring,
Using speed loop section, given value of the obtained output electric current as electric current loop, and the output valve of above-mentioned force feedback part is then
It is the feedforward part input of electric current loop, by electric current loop section, output obtains motor speed value, so that driving motor, realizes control
Purpose processed.The motor is motor in wrist recovery robot.
According to another aspect of the present invention, a kind of control system of above-mentioned wrist recovery robot power-assist training, institute are provided
The system of stating includes: force feedback module and Three-loop control module, in which:
The force feedback module, including power/torque sensor by being mounted in wrist recovery robot, the sensor
It detects that human body wrist is applied to power/torque of equipment, institute's dynamometry/torque is scaled equivalent current, by judging equivalent electricity
The size relation of stream and equivalent current amplitude limit value determines the value of electric current loop feedforward part in Three-loop control module；
The Three-loop control module, including position ring, speed ring, electric current loop, wherein the input of position ring is to have measured
Wrist motion track data, by position loop section, obtained output is given for motor speed, and the input as speed ring
Value, using speed loop section, given value of the obtained output electric current as electric current loop, and the output valve of above-mentioned force feedback module
It is then the feedforward part input of electric current loop, by electric current loop section, output obtains motor speed value, so that driving motor, is realized
Control purpose.
Preferably, the Three-loop control module, wherein the main function of electric current loop is the change of quick response given voltage
Change, while in electric motor starting, motor is allowed to start with high current to start quickly process.
It is highly preferred that the adjuster of the electric current loop uses pi regulator, the input of electric current loop is above-mentioned force feedback design
Partial output valve.
Preferably, the Three-loop control module, wherein the adjuster of speed ring still uses PI controller, speed ring
Input is the output valve of position ring.
Preferably, the Three-loop control module, wherein position ring uses sliding moding structure adjuster, improves system robust
Property.The input of position ring is the wrist motion track data measured.
The present invention detects the power that human body wrist is applied to equipment by force snesor and torque sensor, by the letter of feedback force
Breath is sent into controller and is handled, and realizes to the drive control of equipment motor, provides certain power-assisted, and patient's wrist is made to keep permanent
The power for determining size carries out rehabilitation training according to surveyed track, helps suffering limb while giving full play to wrist residual motor function
Complete movement.
Control system of the invention is the position speed and current Three-loop control with force feedback function.Wherein, force feedback
Design part determines the case where motor provides power-assisted by way of force feedback；Motor control part uses position speed and current three
Closed-loop control, electric current loop and speed ring use proportional, integral (Proportional-Integral, PI) adjuster, and position ring is adopted
Use Sliding mode variable structure control.Control system controls precision height, strong robustness.And power-assist rehabilitation instruction is completed by the method for force feedback
Practice, compared to by way of acquisition EEG signals and table electromyography signal, has the characteristics that strong operability, stability are strong, at low cost.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1. force feedback part design provided by the invention, detects human body wrist by force snesor and torque sensor and applies
To the power of equipment, the power-assisted that motor provides is determined according to effect force information, make patient's wrist keep constant size, can bear
Power in range gives full play to the locomitivity that patient has restored, and realizes power-assist training.
2. force feedback part design provided by the invention, force feedback algorithm is simple, believes with using EEG signals or myoelectricity
Number method compare, have the characteristics that detection accuracy height, strong operability, stability are strong, at low cost.
3. the above-mentioned position speed and current three closed-loop control system with force feedback function of the present invention, wherein position ring is adopted
With Sliding mode variable structure control, fast response time, tracking accuracy is high, strong robustness.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of wrist recovery robot in one embodiment of the invention；
In figure: one-dimensional force snesor 1,2,3,4, torque sensor 5；
Fig. 2 is force feedback part design schematic diagram in the present invention；
Fig. 3 is the structural block diagram of position speed and current three closed-loop control system in the present invention；
Fig. 4 is electric current loop partial schematic diagram in control system of the present invention；
Fig. 5 is revolving speed loop section schematic diagram in control system of the present invention；
Fig. 6 is position ring partial schematic diagram in control system of the present invention；
Fig. 7 is position sliding moding structure controller structure figure in control system of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
The wrist recovery robot that the present invention is directed to can be any wrist recovery robot in the prior art, in the present invention
In one embodiment, in order to enable those skilled in the art are clearer to understand technical solution of the present invention, before the applicant
The Three Degree Of Freedom wrist functional rehabilitation robot recorded in the patent 201610015770.2 of application, it should be appreciated that at other
It is also possible to other wrist recovery robots in embodiment.
The present embodiment is directed to above-mentioned wrist recovery robot, and the control method of the power-assist training of use includes: force feedback portion
Divide and Three-loop control part.
Specifically, as shown in Fig. 2, the force feedback part, step include:
Step 1: detecting that human body wrist is applied to wrist by the power/torque sensor being mounted in wrist recovery robot
The power F/ torque T of healing robot.
Specifically, in Fig. 1 wrist recovery robotic structure, five sensors, 4 one-dimensional force snesors are set altogether
With 1 torque sensor.The one-dimensional force snesor 1 and 2 marked in Fig. 1 is used to detect the power in palmar flexion/dorsiflexion freedom degree, one-dimensional
Force snesor 3 and 4 for detection ruler partially/the inclined freedom degree of oar on power.5 be torque sensor, for detecting when wrist rotates
Torque.Palmar flexion/dorsiflexion and ruler partially/oar the two freedom degrees partially on, sensor measures wrist force F, on rotary freedom,
Side obtains wrist torque T.
Step 2: institute's dynamometry/torque is scaled equivalent current ieq。
Specifically, according to formula Te=CTφi、TeEquivalent current i is calculated in=Fdeq.Wherein, TeIndicate that motor turns
Square, CTFor torque constant, φ is motor magnetic linkage, and d indicates the arm of force.
Step 3: by judging that equivalent current and the size relation of equivalent current amplitude limit value determine in three closed-loop control system
The value of electric current loop feedforward part.
Specifically, as shown in Figure 1, wherein imaxThe amplitude limit value for indicating force feedback equivalent current, to prevent patient from exerting oneself
Lead to secondary injury, i greatlyffIndicate the current feed-forward part in three closed-loop control system.If ieq> imax, then i is enabledff=imax, i.e.,
By current limit imaxFeedforward part as electric current loop in three closed-loop control system below.If ieq≤imax, then have iff=
ieq, i.e., using the Equivalent Conversion electric current of patient's power or torque as the feedforward part of electric current loop in Three-loop control.Therefore, F and T with
Patient is exerted a force situation feedback in motor control ring (position ring, speed ring, electric current loop) by the form of current signal, to realize
Force feedback.
The Three-loop control part, specifically includes:
Electric current loop: as shown in figure 4, the main function of electric current loop is the variation of quick response given voltage, while in motor
When starting, motor is allowed to start to accelerate starting process with high current.In consideration of it, the adjuster of electric current loop is preferred in the present invention
Using pi regulator, pi regulator algorithm is simple, it is good to eliminate static difference, rapidity, meets design requirement.
For current regulator, it is desirable that expectation electric current floating when motor is in stable state, as seen from Figure 3, electric current
Ring recoverable is at I system.Because using pi regulator, which can be write as:
In formula, KiFor the proportionality coefficient of adjuster；τiFor the leading time constant of adjuster.
Specifically, can be equivalent at first order inertial loop for inverter control part, transmission function is as follows:
In formula, τVIndicate the time constant of inverter, KVIndicate the gain of inverter.
Specifically, for armature part, since the electromechanical time constant of motor is much larger than electromagnetic time constant, so
It can motor part is equivalent at the section inertial element containing resistance and inductance, transmission function are as follows:
In formula, TmFor the electromagnetic time constant of motor, R indicates resistance value.
To sum up, the open-loop transfer function of entire electric current loop can be write as:
Since the switching frequency of inverter is very high, τVVery little, therefore can ignore；To make adjuster zero point and control pair
The pole of elephant mutually offsets, and can enable τi=Tm.Electric current loop open-loop transfer function is at this time
Enable k=KiKV/(τiR), then the transmission function of electric current loop closed loop is at this time
When the bandwidth omega of current closed-loopcAfter determination, then ωc=k.According to k=KiKV/(τiR), τi=Tm=L/R can be solved
The Proportional coefficient K of adjusteri=L ωc/KV, integral coefficient Kj=KiT/KV.Wherein, L indicates inductance.
Speed ring: speed ring is equally an important link in control system, in order to meet the control of high precision and fast response
System requires, and the adjuster of speed ring still uses PI controller, and transmission function is
In formula, KnFor the proportionality coefficient of speed regulator；τnFor the leading time constant of speed regulator.
Speed ring is simplified, as shown in figure 5, its open-loop transfer function can be obtained being
In formula, KcMeetpnFor the number of pole-pairs of motor, ψfThe magnetic of stator winding is crossed for rotor permanent magnet chain
Chain, J are rotary inertia.
By formula (8) it is found that speed ring should be corrected into II type system.According to the parameters relationship of typical type-Ⅱ system, speed
The parameter K of adjustern、τnIt is determined by following two formula:
General h takes 5, and two parameters of adjuster can be acquired by substituting into upper two formula.It is controlled using PI, so that entire algorithm letter
Single, easily controllable, whole system can also obtain preferable steady-state performance.
Position ring: position ring structural block diagram is as shown in fig. 6, according to the conventional method, the adjuster of position ring is typically designed
For proportion adjustment.As seen from Figure 6, position servo is a high order system, need to carry out depression of order processing to it.Since speed responsive is remote
It is faster than position response, therefore can be by speed ring Approximate Equivalent at first order inertial loop.Depression of order treated speed ring transmission function
For
In formula, KaFor speed ring closed loop amplification coefficient (ratio between motor actual speed and servo velocity)；TaIt is closed for degree
The time constant (time that empty load of motor starts to rated speed) of ring.
The open-loop transfer function of entire position ring is at this time
But the rapidity of the use ratio adjuster in position ring, General System can achieve, but cannot achieve high-precision,
Error-free tracking.And Sliding mode variable structure control has many advantages, such as that robustness is high, is easily achieved and insensitive to interference variations, therefore
By sliding moding structure regulator applications in position ring.Its structural block diagram such as Fig. 7.Its state equation is
Wherein, θ*It is given for position, positional value when θ running.e1=θ*-θ、Thus
The position ring sliding formwork switching function is taken to be
S=ce1+e2 (12)
The then output of position sliding formwork is
ω*=ψ1e1+ψ2e2+δpsgn(sp) (13)
Have in formula
α in above formula1、β1、α2、β2、δpValue should meet following condition:
So that it is determined that the parameters of position sliding moding structure adjuster.
Contained in above-described embodiment in the present invention to palmar flexion/dorsiflexion, ruler partially/oar is inclined, rotate the control of three degree of freedom,
Patient's wrist is set to obtain comprehensive, sufficient rehabilitation training.
To sum up embodiment it can be seen that
The present invention detects the power that human body wrist is applied to equipment by force snesor and torque sensor, is believed according to active force
Cease the power-assisted for determining that motor provides, make patient's wrist keep constant size, can power in tolerance range, give full play to patient
The locomitivity restored realizes power-assist training.
Force feedback algorithm used in control system of the present invention is simple, with the side using EEG signals or electromyography signal as feedback
Method is compared, and has the characteristics that detection accuracy height, strong operability, stability are strong, at low cost.
Present invention incorporates force feedbacks to realize position speed and current Three-loop control, can satisfy under power-assist training mode
Control requires, and compared with monocycle control, has fast response time, tracking accuracy is high, and the significant advantage of strong robustness is very suitable to
The control of wrist recovery robot.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (7)
1. a kind of force-feedback control method of wrist recovery robot power-assist training, it is characterised in that: including force feedback part and
Three-loop control part, in which:
The force feedback part, comprising the following steps:
Step 1: detecting that human body wrist is applied to wrist recovery by the power/torque sensor being mounted in wrist recovery robot
Power/torque of robot；
Step 2: institute's dynamometry/torque is scaled equivalent current；
Step 3: by judging that equivalent current and the size relation of equivalent current amplitude limit value determine electric current loop in Three-loop control
The value of feedforward part；
The Three-loop control part, including position ring, speed ring, electric current loop, the input of position ring are the wrist fortune measured
Dynamic track data, by position loop section, obtained output is given for motor speed, and the input value as speed ring, then passes through
Speed loop section is crossed, given value of the obtained output electric current as electric current loop, and the output valve of above-mentioned force feedback part is then electricity
The feedforward part input of ring is flowed, by electric current loop section, output obtains motor speed value, so that driving motor, realizes control mesh
's.
2. the force-feedback control method of wrist recovery robot according to claim 1 power-assist training, it is characterised in that: institute
State electric current loop, for the variation of quick response given voltage, while in electric motor starting, allow motor with high current start to
Start quickly process.
3. the force-feedback control method of wrist recovery robot according to claim 2 power-assist training, it is characterised in that: institute
Electric current loop is stated, adjuster uses pi regulator.
4. the force-feedback control method of wrist recovery robot according to claim 1 power-assist training, it is characterised in that: institute
Speed ring is stated, adjuster uses PI controller.
5. the force-feedback control method of wrist recovery robot according to claim 1 power-assist training, it is characterised in that: institute
Position ring is stated, adjuster uses sliding moding structure adjuster.
6. the force-feedback control method of wrist recovery robot according to claim 1-5 power-assist training, special
Sign is: enabling ieqIndicate the equivalent current that institute's dynamometry/torque converts, imaxIt indicates the amplitude limit value of force feedback equivalent current, uses
To prevent patient from exerting oneself excessive to lead to secondary injury, iffThe current feed-forward part in Three-loop control part is indicated, if ieq>
imax, then i is enabledff=imax, i.e., by current limit imaxAs the feedforward part of electric current loop in Three-loop control part below, if
ieq≤imax, then have iff=ieq, i.e., using the Equivalent Conversion electric current of patient's power or torque as the electric current loop of Three-loop control part
Feedforward part, therefore, patient is exerted a force situation feedback into motor control ring in the form of current signal by power and torque, thus
Realize force feedback.
7. a kind of force feedback control of the wrist recovery robot power-assist training for realizing any one of claim 1-6 the method
System processed, it is characterised in that: including force feedback module and Three-loop control module, in which:
The force feedback module, including power/torque sensor by being mounted in wrist recovery robot, the sensor detection
Human body wrist is applied to power/torque of equipment out, and institute's dynamometry/torque is scaled equivalent current, by judge equivalent current with
The size relation of equivalent current amplitude limit value determines the value of electric current loop feedforward part in Three-loop control module；
The Three-loop control module, including position ring, speed ring, electric current loop, wherein the input of position ring is the wrist measured
Portion's motion trace data, by position loop section, obtained output is given for motor speed, and the input value as speed ring,
Using speed loop section, given value of the obtained output electric current as electric current loop, and the output valve of above-mentioned force feedback module is then
It is the feedforward part input of electric current loop, by electric current loop section, output obtains motor speed value, so that driving motor, realizes control
Purpose processed.
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| CN108785997B (en) * | 2018-05-30 | 2021-01-08 | 燕山大学 | Compliance control method of lower limb rehabilitation robot based on variable admittance |
| CN109159120B (en) * | 2018-09-10 | 2022-07-12 | 南京邮电大学 | Active control method and system based on current feedback of joint motor of rehabilitation mechanical arm |
| CN109543332A (en) * | 2018-11-30 | 2019-03-29 | 东北大学 | A kind of seriation robot wrist retarder selection method |
| JP2020146104A (en) | 2019-03-11 | 2020-09-17 | 本田技研工業株式会社 | Assist device control system |
| CN110251898B (en) * | 2019-06-26 | 2020-06-19 | 西安交通大学 | Closed-loop control system of wrist rehabilitation exoskeleton based on force feedback |
| CN111296313A (en) * | 2020-02-17 | 2020-06-19 | 中国人民解放军军事科学院军事医学研究院 | Training device for animal wrist rotation action |
| CN116966057B (en) * | 2023-08-07 | 2024-01-05 | 同济大学浙江学院 | Joint function traction rehabilitation robot auxiliary training method and system |
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