CN110801368A - Universal motion control device and control method for rehabilitation robot - Google Patents
Universal motion control device and control method for rehabilitation robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
Abstract
The invention discloses a universal motion control device and a universal motion control method for a rehabilitation robot, wherein the control device comprises a main controller, a motor driving module, a position and speed detection module, a joint force information acquisition module, a contact force information acquisition module and a rehabilitation data analysis module of the rehabilitation robot, wherein the motor driving module, the position and speed detection module, the joint force information acquisition module and the contact force information acquisition module are all arranged on the rehabilitation robot; the motor driving module is connected with a plurality of joint driving motors for driving the joints of the rehabilitation robot. Has the advantages that: the convenient expansion of the components and functions of the rehabilitation robot is improved through the modular total display structure design; the device can be suitable for different structural forms such as single-degree-of-freedom, two-degree-of-freedom, three-degree-of-freedom, multiple-degree-of-freedom and the like, and can perform functions such as single-joint independent training, multiple-joint cooperative training and the like on different parts such as upper limbs, lower limbs, waist and the like.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a universal motion control device and a universal motion control method for a rehabilitation robot.
Background
With the progress of aging of society and the frequent occurrence of traffic accidents, the population of handicapped people caused by cerebral apoplexy, cerebral trauma or various accidents is rapidly growing. The traditional rehabilitation treatment method has the problems of large personnel consumption, limited rehabilitation effect, difficulty in long-term adherence and the like, the rehabilitation robot combines a plurality of subject technologies such as medicine, information, machinery, electronics, mechanics and the like with human body movement, and a standardized movement and training system can promote nerve function remodeling to finally achieve the purpose of recovering the movement and control capacity of a patient. The technical research and the popularization and the application of the rehabilitation robot have important significance for supplementing rehabilitation medical resources, improving the life quality of patients and promoting social harmony.
Aiming at the application requirements of different parts such as upper limbs, a download part and a waist part, the rehabilitation robot usually has different structural forms such as single degree of freedom, two degrees of freedom, three degrees of freedom and multiple degrees of freedom, and simultaneously has different motion modes such as passive traction, active power assistance and active resistance in different rehabilitation stages. For so many functional and application requirements, the current rehabilitation robot motion control is usually customized for specific requirements, and system improvement or expansion requires redesigning of a control device and a control method. The existing control device and control method have the defects of incomplete active and passive motion modes, poor universality, non-uniform control mode, single function and the like, and joint expansion and multifunctional rehabilitation training cannot be carried out according to training requirements and training effects.
Disclosure of Invention
The present invention is directed to provide a universal motion control device for a rehabilitation robot to solve the above problems, and a preferred embodiment of the present invention includes: the expansion of parts and functions of the robot can be realized by adopting a multifunctional active and passive motion control device and method and modular bus control, so that the technical effects of single-joint independent training and crown-taking and uncovering cooperative training functions of a patient can be conveniently realized, and the details are explained below.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a universal motion control device for a rehabilitation robot, which comprises a main controller of the rehabilitation robot, a motor driving module, a position and speed detection module, a joint force information acquisition module, a contact force information acquisition module and a rehabilitation data analysis module, wherein the motor driving module, the position and speed detection module, the joint force information acquisition module and the contact force information acquisition module are all arranged on the rehabilitation robot; the motor driving module is connected with a plurality of joint driving motors for driving joints of the rehabilitation robot, and the main controller is also connected with a rehabilitation data display module;
the main controller comprises a track planning module, a kinematics calculation module, a dynamics calculation module, a teaching programming module, a rehabilitation data analysis module, a function setting module, a communication module and a force control module.
Preferably, the joint force information acquisition module comprises two detection modes of a joint torque sensor and a motor current, the comprehensive joint torque sensor directly measures torque information of the rotary joint, the motor current is converted through a motor torque coefficient and a reduction ratio of a speed reducer to obtain joint torque information, the two pieces of torque information are input into the main controller, impedance control and force/position hybrid control are carried out by combining robot dynamics and kinematics, force closed-loop calculation under different functional modes is carried out, and therefore active and passive motion control is carried out.
Preferably, the contact force information acquisition module is a one-dimensional force sensor or a six-dimensional torque sensor which is arranged between the rehabilitation robot and the contact part of the patient and is used for detecting the interaction force between the patient and the rehabilitation robot and measuring the variation information of the force; the variable information is input into the main controller as feedback force information, and forms complete closed-loop control by combining joint force information and position information.
Preferably, the rehabilitation data display module is a PC with a display screen for analyzing and displaying rehabilitation data, and is used for recording and storing the posture position, direction, speed and feedback contact force information of the training patient and displaying the posture position, direction, speed and feedback contact force information on the display screen.
A control method of a universal motion control device of a rehabilitation robot comprises four parts, namely position and speed control, model compensation control, universal force control integrating joint torque sensing and contact force sensing and multi-sensing universal hybrid active and passive motion control;
in the position and speed control process, position feedback and speed feedback of a joint driving motor are obtained by an encoder, position and speed are given and obtained by trajectory planning, PID calculation is carried out after deviation is obtained, and the calculated position and speed are output to an internal control closed loop;
in the model compensation control process, the model comprises an inertia force term in a robot dynamics model
Centrifugal and coriolis force terms, gravity terms, and friction terms;
the universal force control integrating joint torque sensing and contact force sensing has three sensing modes, namely measuring joint torque by adopting a joint torque sensor, detecting the joint torque based on motor current and detecting interaction force between a patient and a robot by adopting a force sensor;
in the multi-sensing general hybrid active and passive motion control process, position control, speed control and force control of three sensing modes are integrated, and control outputs of a plurality of closed loops are partially overlapped at a torque part, so that a plurality of motion modes of passive traction training with track constraint, active power-assisted training under the track constraint and active resistance training based on force tracking are realized.
The comprehensive joint torque sensor directly measures torque information of the rotary joint, and the torque information is transmitted to the main controller after being filtered.
The joint torque is detected based on the motor current, and the motor current passes through a motor torque coefficient, a reduction ratio of a speed reducer and a robot model to obtain joint torque information; the joint torque detection calculation formula based on the motor current is as follows:
wherein
The moment of the joint of each shaft is taken as the moment,Nfor the reduction ratio of the speed reducer,
is the number of pole pairs of the motor, is the motor flux linkage,as an electric motorqThe shaft current, which is the motor rotor inertia,
is a robot dynamics equation.
The force sensor is used for detecting the interaction force between the patient and the robot, and the sensor is a one-dimensional force sensor or a six-dimensional force/torque sensor.
In conclusion, the beneficial effects of the invention are as follows: 1. the convenient expansion of the components and functions of the rehabilitation robot is improved through the modular total display structure design;
2. the device can be suitable for different structural forms such as single-degree-of-freedom, two-degree-of-freedom, three-degree-of-freedom, multiple-degree-of-freedom and the like, and has the functions of single-joint independent training, multiple-joint cooperative training and the like on different parts such as upper limbs, lower limbs, waist and the like;
3. the universal force control method is suitable for three sensing modes, namely a joint torque sensor, a six-dimensional force/torque sensor and a motor current, and achieves various motion modes of passive traction training with track constraint, active power-assisted training under the track constraint and active resistance training based on force tracking.
4. The invention relates to a universal motion control device and a universal motion control method which are designed according to different motion modes of different application parts, different rehabilitation stages, multiple degrees of freedom, active and passive traction, resistance and the like of the existing rehabilitation robot, so that the multi-functional robot can apply a core control, time and labor are saved, the labor cost and the control cost are reduced in maintenance, and a foundation is provided for the household use of the rehabilitation robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic view of the connection structure of the present invention;
fig. 3 is a schematic structural diagram of the control method of the present invention.
The reference numerals are explained below:
1. a main controller; 11. a trajectory planning module; 12. a kinematic calculation module; 13. a dynamics calculation module; 14. a teaching programming module; 15. a rehabilitation data analysis module; 16. a function setting module; 17. a communication module; 18. a force control module; 2. a joint force information acquisition module; 3. a position and speed detection module; 4. a contact force acquisition module; 5. a motor drive module; 6. a rehabilitation data display module; 7. a rehabilitation robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1 to 3, the present invention provides a universal motion control device for a rehabilitation robot, including a main controller 1, a motor driving module 5, a position and speed detecting module 3, a joint force information collecting module 2, a contact force information collecting module 4, and a rehabilitation data analyzing module 15 of the rehabilitation robot 7, wherein the motor driving module 5, the position and speed detecting module 3, the joint force information collecting module 2, and the contact force information collecting module 4 are all installed on the rehabilitation robot 7; the motor driving module 5 is connected with a plurality of joint driving motors for driving joints of the rehabilitation robot 7, and the main controller 1 is also connected with a rehabilitation data display module 6; the main controller 1 comprises a track planning module 11, a kinematics calculation module 12, a dynamics calculation module 13, a teaching programming module 14, a rehabilitation data analysis module 15, a function setting module 16, a communication module 17 and a force control module 18; the main controller 1 is a dual-core controller, one core mainly completes teaching, changing, function setting and communication functions, and teaching programming and off-line programming are realized through external connection of interfaces such as CAN, EtherCAT or Profinet; the other core is mainly used for completing the motion planning and control of the rehabilitation robot 7, and comprises the functions of kinematics calculation, trajectory planning and interpolation, dynamics calculation and force control, key information recording, data analysis and the like; in addition, the user can expand the nodes based on the distributed bus structure, and the expansion requirements of other functions are met.
The trajectory planning module 11 calculates the torque output of each axis
、And the result is sent to the motor driving module 5 for servo control, and the rehabilitation robot 7 is further controlled; the position and speed detection module 3 detects the movement position and speed information of the rehabilitation robot 7 through an encoder arranged on the stomach of the joint driving motor
、
And feeds back the motion information to the motor driving module 5 and the main controller 1 for controlling the motion of the rehabilitation robot 7; joint torque of each shaft is collected to joint plum information acquisition module
And feeds back the data to a force control module 18 in the main controller 1 of the rehabilitation robot 7 to carry out active and passive strategy control; the function setting module 16 sets the active and passive control strategies according to the operator and sets the control strategiesThe set information is transmitted to the trajectory planning module 11 and the force control module 18, so that joint force control is performed; the teaching programming module 14 can complete the on-line control of the display teaching; the contact force information acquisition module 4 is a sensor installed between the rehabilitation robot 7 and the human body contact part, is a one-dimensional force sensor or a six-dimensional force/torque sensor, and transmits the physical information to the main controller 1 for force control.
The joint force information acquisition module 2 comprises two detection modes of a joint torque sensor and a motor current, the torque information of a rotary joint is directly measured by integrating the joint torque sensor, the motor current is converted by a motor torque coefficient and a reduction ratio of a speed reducer to obtain joint torque information, the two pieces of torque information are input into the main controller 1, impedance control and force/position hybrid control are carried out by combining robot dynamics and kinematics, force closed-loop calculation under different functional modes is carried out, and active and passive motion control is carried out;
the contact force information acquisition module 4 is a one-dimensional force sensor or a six-dimensional torque sensor which is arranged between the rehabilitation robot 7 and the contact part of the patient and is used for detecting the interaction force between the patient and the rehabilitation robot 7 and measuring the variation information of the force; the variable information is input into the main controller 1 to serve as feedback force information, and complete closed-loop control is formed by combining joint force information and position information, so that the control device has the advantages of flexible control, greatly enhances the accuracy of force control, and improves the rehabilitation training effect;
the rehabilitation data display module 6 is a PC with a display screen for analyzing and displaying rehabilitation data, and is used for recording and storing the posture position, direction, speed and feedback contact force information of the training patient and displaying the posture position, direction, speed and feedback contact force information on the display screen.
A control method of a universal motion control device of a rehabilitation robot comprises four parts, namely position and speed control, model compensation control, universal force control integrating joint torque sensing and contact force sensing and multi-sensing universal hybrid active and passive motion control;
in the position and speed control process, position feedback and speed feedback of a joint driving motor are obtained by an encoder, position and speed are given and obtained by trajectory planning, PID calculation is carried out after deviation is obtained, and the calculated deviation is output to an internal control closed loop;
in the model compensation control process, the model comprises an inertia force term in a robot dynamics model
Centrifugal and coriolis force termsThe nonlinear decoupling of the robot system can be realized through model control, the response speed of the system is calculated, and the control performance is improved;
general force control integrating joint torque sensing and contact force sensing has three sensing modes, namely measuring joint torque by adopting a joint torque sensor, detecting the joint torque based on motor current and detecting interaction force between a patient and a robot by adopting a force sensor;
in the multi-sensing general hybrid active and passive motion control process, position control, speed control and force control of three sensing modes are fused, and control outputs of a plurality of closed loops are overlapped at a torque part, so that a plurality of motion modes of passive traction training with track constraint, active power-assisted training under the track constraint and active resistance training based on force tracking are realized; in practical application, one of the three force sensing modes is selected, when the force control gain K is 0, the force control part does not work, and the motion control of the robot is determined by position control at the moment, so that the passive traction training with track constraint can be realized; when the force control gain K is a positive value, the acting force between the robot and the environment can be fed back to the control loop, and active power-assisted training under the constraint of the track can be realized; when the force control gain K is a negative value, the acting force between the robot and the environment can be fed back to the control loop and plays a reverse role, and the active resistance training based on force tracking can be realized for multiple motion modes.
The comprehensive joint torque sensor directly measures the torque information of the rotary joint, and the torque information is transmitted to the main controller 1 after filtering.
Detecting joint torque based on motor current, wherein the motor current passes through a motor torque coefficient, a reduction ratio of a speed reducer and a robot model to obtain joint torque information; the joint torque detection calculation formula based on the motor current is as follows:
wherein the moment of each shaft joint is the moment of each shaft joint,Nfor the reduction ratio of the speed reducer,
is the number of pole pairs of the motor, is the motor flux linkage, is the motorqThe shaft current is the inertia of the motor rotor and is a robot dynamic equation.
The force sensor is used for detecting the interaction force between a patient and the robot, the sensor is a one-dimensional force sensor or a six-dimensional force/torque sensor and is mainly used for detecting the interaction force between the patient and the robot, and the six-dimensional force/torque sensor can be used for measuring the force change in multiple directions.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The universal motion control device for the rehabilitation robot is characterized by comprising a main controller (1) of the rehabilitation robot (7), a motor driving module (5), a position and speed detection module (3), a joint force information acquisition module (2), a contact force information acquisition module (4) and a rehabilitation data analysis module (15), wherein the motor driving module (5), the position and speed detection module (3), the joint force information acquisition module (2) and the contact force information acquisition module (4) are all arranged on the rehabilitation robot (7); the motor driving module (5) is connected with a plurality of joint driving motors for driving joints of the rehabilitation robot (7), and the main controller (1) is also connected with a rehabilitation data display module (6);
the main controller (1) comprises a track planning module (11), a kinematics calculation module (12), a dynamics calculation module (13), a teaching programming module (14), a rehabilitation data analysis module (15), a function setting module (16), a communication module (17) and a force control module (18).
2. The rehabilitation robot universal motion control device of claim 1, wherein: the joint force information acquisition module (2) comprises two detection modes of a joint torque sensor and a motor current, the comprehensive joint torque sensor directly measures torque information of a rotary joint, the motor current is converted through a motor torque coefficient and a reduction ratio of a speed reducer to obtain joint torque information, the two pieces of torque information are input into the main controller (1), impedance control and force/position hybrid control are carried out by combining robot dynamics and kinematics, force closed-loop calculation under different functional modes is carried out, and therefore active and passive motion control is carried out.
3. The rehabilitation robot universal motion control device of claim 1, wherein: the contact force information acquisition module (4) is a one-dimensional force sensor or a six-dimensional torque sensor which is arranged between the rehabilitation robot (7) and the contact part of the patient and is used for detecting the interaction force between the patient and the rehabilitation robot (7) and measuring the variation information of the force; the variable information is input into the main controller (1) to be used as feedback force information, and the joint force information and the position information are combined to form complete closed-loop control.
4. The rehabilitation robot universal motion control device of claim 1, wherein: the rehabilitation data display module (6) is a PC (personal computer) with a display screen for analyzing and displaying rehabilitation data, and is used for recording and storing the posture position, direction, speed and feedback contact force information of the training patient and displaying the posture position, direction, speed and feedback contact force information on the display screen.
5. A control method of the rehabilitation robot universal motion control device according to claim 1, characterized in that: the method comprises four parts, namely position and speed control, model compensation control, general force control for integrating joint torque sensing and contact force sensing and multi-sensing general hybrid active and passive motion control;
in the position and speed control process, position feedback and speed feedback of a joint driving motor are obtained by an encoder, position and speed are given and obtained by trajectory planning, PID calculation is carried out after deviation is obtained, and the calculated position and speed are output to an internal control closed loop;
in the model compensation control process, the model comprises an inertia force term in a robot dynamics modelCentrifugal and coriolis force terms
Gravity term
And item of friction
；
The universal force control integrating joint torque sensing and contact force sensing has three sensing modes, namely measuring joint torque by adopting a joint torque sensor, detecting the joint torque based on motor current and detecting interaction force between a patient and a robot by adopting a force sensor;
in the multi-sensing general hybrid active and passive motion control process, position control, speed control and force control of three sensing modes are integrated, and control outputs of a plurality of closed loops are partially overlapped at a torque part, so that a plurality of motion modes of passive traction training with track constraint, active power-assisted training under the track constraint and active resistance training based on force tracking are realized.
6. The control method according to claim 5, characterized in that: the comprehensive joint torque sensor directly measures torque information of the rotary joint, and the torque information is transmitted to the main controller (1) after being filtered.
7. The control method according to claim 5, characterized in that: the joint torque is detected based on the motor current, and the motor current passes through a motor torque coefficient, a reduction ratio of a speed reducer and a robot model to obtain joint torque information; the joint torque detection calculation formula based on the motor current is as follows:
wherein
The moment of the joint of each shaft is taken as the moment,Nfor the reduction ratio of the speed reducer,
the number of the pole pairs of the motor is,
is a magnetic linkage of a motor,
as an electric motorqThe current of the shaft is measured by the current sensor,
in order to obtain the inertia of the rotor of the motor,
is a robot dynamics equation.
8. The control method according to claim 5, characterized in that: the force sensor is used for detecting the interaction force between the patient and the robot, and the sensor is a one-dimensional force sensor or a six-dimensional force/torque sensor.
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