CN112089580A - Lower limb skeleton rehabilitation robot motion control method based on interference compensation - Google Patents

Lower limb skeleton rehabilitation robot motion control method based on interference compensation Download PDF

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CN112089580A
CN112089580A CN202010404277.6A CN202010404277A CN112089580A CN 112089580 A CN112089580 A CN 112089580A CN 202010404277 A CN202010404277 A CN 202010404277A CN 112089580 A CN112089580 A CN 112089580A
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knee joint
hip joint
joint
hip
knee
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CN112089580B (en
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支岳
李古强
宫健伟
肖晓飞
王冉冉
孟永春
廖晨歌
宋晓慧
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Binzhou Medical College
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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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5061—Force sensors
    • 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
    • A61H2201/5069—Angle sensors

Abstract

The invention relates to a lower limb skeleton rehabilitation robot motion control method based on interference compensation, and belongs to the field of rehabilitation robots. The load moments of the hip joint and the knee joint are estimated by measuring the stress modes of the hip joint and the knee joint, and a friction force estimation model is established for compensation; meanwhile, the rotation angles of the hip joint and the knee joint are measured and compared with the expected gait to obtain an error angle signal, and then the nominal system of the rehabilitation robot is compensated in an equivalent control mode. And finally, constructing an uncertainty and interference observer of the robot system through the equivalent control quantity and the error angle of the nominal system, observing and compensating the system uncertainty of the hip joint and the knee joint, forming hip joint and knee joint control moment signals, and transmitting the signals to the rehabilitation robot system to realize the auxiliary walking control of the rehabilitee. The advantage of this method is that it can compensate for a variety of uncertainties, resulting in better comfort for the rehabilitee to assist walking.

Description

Lower limb skeleton rehabilitation robot motion control method based on interference compensation
Technical Field
The invention relates to the field of motion control of lower limb skeleton rehabilitation robots, in particular to a motion control method of a lower limb skeleton rehabilitation robot based on interference compensation.
Background
With the development of society, the population structure of China has an obvious aging trend at present. A large number of elderly people have hemiplegia-like cardiovascular and cerebrovascular diseases, while most stroke or other patients have different degrees of lower limb movement disorders. With the development of the rehabilitation robot technology, the rehabilitation robot is widely adopted for the early-stage exercise rehabilitation treatment of the above cases to assist the patient in exercising, so that the aims of increasing the exercise amount of the rehabilitee, improving the limb exercise function of the patient and accelerating the rehabilitation process can be fulfilled; on the other hand, the device can provide convenience for the patients to take care of themselves in basic life nursing, reduce nursing burden and improve the life quality of the rehabilitees. The difficulty problems existing in the motion control of the lower limb skeleton rehabilitation robot are that the accurate measurement of the motion load is difficult, the friction torque estimation is inaccurate, and unknown uncertain external interference exists in the motion control in the actual process. Under the condition of strong uncertainty, the stability and the safety of rehabilitation motion control are ensured, the comfort level of the rehabilitation motion control is improved, and the rehabilitation motion control is a main task of the motion control. Based on the reasons, the invention provides a control scheme of interference observation compensation aiming at three uncertainties, and adopts a method of error feedback and equivalent control to realize high-quality control of the rehabilitation robot, so that the invention has good economic value and practical value.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a motion control method of a lower limb skeleton rehabilitation robot based on interference compensation, and further solves the problem of poor motion control comfort caused by insufficient anti-interference and uncertain load self-adaption capability due to the limitations and defects of the related technology at least to a certain extent.
According to one aspect of the invention, a lower limb skeleton rehabilitation robot motion control method based on interference compensation is provided, and comprises the following steps:
step S10, respectively mounting FUTEK LSB200 type force sensors on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring load forces of a hip joint and a knee joint, and respectively estimating load moments of the hip joint and the knee joint according to the positions of the sensors;
step S20, respectively installing incremental orthogonal photoelectric encoders on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring a hip joint rotation angle and a knee joint rotation angle of the skeletal robot, obtaining a hip joint angle error and a knee joint angle error according to the motion data of human gait, and respectively integrating to obtain error integral signals;
step S30, constructing a nonlinear filter differentiator according to the measurement signals of the hip joint rotation angle and the knee joint rotation angle to obtain a hip joint angular rate signal and a knee joint angular rate estimation signal;
step S40, measuring the weight of thigh support rods and the weight of shank support rods, constructing a skeleton system angular acceleration matrix and an angular velocity matrix according to the hip joint angle measurement value and the knee joint angle measurement value, as well as the length of the thigh support rods and the length of the shank support rods, and performing inverse transformation to obtain a skeleton system angular acceleration inverse matrix;
step S50, calculating an angular velocity equivalent control quantity according to the hip joint rotation angular velocity estimation value and the knee joint rotation angular velocity estimation value, and calculating a thigh rod gravity related quantity and a shank rod gravity related quantity according to physical structure data of the rehabilitation robot;
step S60, compensating and designing the friction force of the hip joint and the friction force of the knee joint according to the estimated value of the rotation angle rate of the hip joint and the knee joint, and then calculating the equivalent control quantity of the hip joint and the knee joint according to the estimated value of the load moment of the hip joint and the knee joint and the inverse matrix of the bone angular acceleration system;
step S70, constructing a hip joint and knee joint interference observer according to the equivalent control quantity of the hip joint and the knee joint, and respectively calculating the state and the interference estimation value of the hip joint and knee joint interference observer;
and step S80, performing linear combination according to the hip joint and knee joint interference estimation value, the hip joint and knee joint rotation angle error amount, the error integral amount and the hip joint and knee joint rotation angle rate signal estimation value to generate hip joint and knee joint control moment, and realizing the final motion control of the lower limb skeleton rehabilitation robot.
In an exemplary embodiment of the present invention, measuring a hip joint rotation angle and a knee joint rotation angle of the skeletal robot, obtaining a hip joint angle error and a knee joint angle error according to motion data of human gait, and integrating the hip joint angle error and the knee joint angle error respectively to obtain an error integration signal includes:
qd1＝a11sin(b11p+c11)+a12 sin(b12p+c12)+a13 sin(b13p+c13)；
qd2＝a21 sin(b21p+c21)+a22sin(b22p+c22)+a23 sin(b23p+c23)；
p＝t/Taa-floor(t/Taa)；
e1＝q1-qd1；
e2＝q2-qd2；
Figure RE-GDA0002783559920000031
Figure RE-GDA0002783559920000032
wherein q is1For measurements of the angle of rotation of the hip joint of a robot for lower extremity skeletal rehabilitation, q2The measured value is the knee joint rotation angle of the lower limb skeleton rehabilitation robot. q. q.sd1As desired value of hip joint rotation angle, qd2Is a desired value of the knee joint rotation angle, a11、a12、a13、a21、a22、a23、b11、b12、b13、b21、b22、b23、 c11、c12、c13、c21、c22、c23The detailed design of the human body is shown in the embodiment of the later-written case, which is gait data. p is the percentage of the gait cycle, T is the locomotion time of the rehabilitee, TaaThe average period of the exercise steps of the rehabilitee. floor (T/T) indicates that an integer part is taken to the left, such as floor (3.5) ═ 3, and finally the obtained p is more than or equal to 0 and less than or equal to 1. e.g. of the type1For hip joint angle error signals, e2Is knee joint angle error signal, s1The signal is integrated for the hip joint rotation angle error, where dt represents the integration of the time signal. s2The knee joint rotation angle error integral signal is obtained.
In an exemplary embodiment of the present invention, constructing a nonlinear filter differentiator according to the hip rotation angle and knee rotation angle measurement signals, and obtaining a hip angular rate signal and a knee angular rate estimation signal comprises:
Figure RE-GDA0002783559920000041
D1(n)＝(q1(n)-q1a(n))/(Ta|q1(n)-q1a(n)|+1)；
Figure RE-GDA0002783559920000042
D2(n)＝(q2(n)-q2a(n))/(Tb|q2(n)-q2a(n)|+2)；
wherein q is1For measuring signals of angle of rotation of the hip joint, D1Estimating a signal for the angular velocity of rotation of the hip joint, q1a(n) is a filtered hip joint rotation angle signal, Ta、1、Tb、2The detailed design of the parameter is described in the following examples. q. q.s2For measuring knee joint rotation angle, D2Estimating a signal for knee joint rotational angular velocity, q2aAnd (n) is a filtering knee joint rotation angle signal, and T is a time interval between data.
In an exemplary embodiment of the present invention, constructing the bone system angular acceleration matrix and the angular velocity matrix and the inverse matrix thereof according to the hip joint angle measurement value and the knee joint angle measurement value, and the length of the thigh strut and the length of the calf strut comprises:
Figure RE-GDA0002783559920000043
Figure RE-GDA0002783559920000044
Figure RE-GDA0002783559920000045
Figure RE-GDA0002783559920000046
Figure RE-GDA0002783559920000047
M0M＝E；
Figure RE-GDA0002783559920000048
Π11＝-m2l1l2 cos(q2)D2；
Π12＝-m2l1l2 cos(q2)D2/2；
Π21＝-m2l1l2 cos(q2)D2/2；
Π22＝0；
Figure RE-GDA0002783559920000051
wherein m is1The weight of the thigh strut, m2Is the weight of the leg strut, M is the skeletal system angular acceleration matrix, M0Is the inverse matrix of the angular acceleration of the skeletal system, and E is the unit matrix. C is the bone system angular velocity matrix.
In an exemplary embodiment of the present invention, the calculating the angular velocity equivalent control quantity according to the hip joint rotational angular velocity estimation value and the knee joint rotational angular velocity estimation value, and then calculating the thigh bar gravity related quantity and the shank bar gravity related quantity according to the physical structure data of the rehabilitation robot includes:
Figure RE-GDA0002783559920000052
g1＝-m1gl1 sin(q1)/2-m2gl2 sin(q1-q2)/2-m2gl1sin(q1)；
g2＝-m2gl2sin(q1-q2)/2；
wherein H0aFor angular velocity equivalent control quantity, D1Estimating a signal for said angular velocity of rotation of the hip joint, D2Estimating a signal for said knee joint rotational angular velocity, h0a1Is the angular velocity equivalent control quantity of the hip joint, h0a2Is the knee joint angular velocity equivalent control quantity, g1And g2G is a gravity acceleration constant, and the value of g is 9.8.
In an exemplary embodiment of the present invention, the designing of the compensation of the friction force of the hip joint and the friction force of the knee joint according to the estimated values of the rotational angle rates of the hip joint and the knee joint, and the calculating the equivalent control quantities of the hip joint and the knee joint comprises:
fa1＝fsλ1+fc(1-λ1)；
fa2＝fsλ2+fc(1-λ2)；
Figure RE-GDA0002783559920000053
Figure RE-GDA0002783559920000061
Mf1＝la1T1；
Mf2＝la2T2；
Figure RE-GDA0002783559920000062
wherein T is1And T2Measured values of the load forces of the hip and knee joints, respectively,/a1Is the distance between the hip joint and the installation position of the hip load force sensor, la2Is the distance between the knee joint and the installation position of the knee load force sensor. D1And D2Is an estimate of the angular velocity of rotation of the hip and knee joints, fa1And fa2The compensation amount of the friction force between the hip joint and the knee joint, fsAnd fcAre estimated values of static friction coefficient and dynamic friction coefficient, respectively. Mf1And Mf2For hip and knee load moment estimates, H0aFor the equivalent control quantity of angular velocity, g1And g2For the thigh lever gravity andweight related quantity of shank, u1eAnd u2eAnd finally calculating the equivalent control quantity of the hip joint and the knee joint.
In an exemplary embodiment of the present invention, constructing a hip joint and knee joint disturbance observer according to the equivalent control quantity of the hip joint and knee joint, and calculating the state and disturbance estimation values of the hip joint and knee joint disturbance observer respectively includes:
Figure RE-GDA0002783559920000063
Figure RE-GDA0002783559920000064
Figure RE-GDA0002783559920000065
Figure RE-GDA0002783559920000066
x12d＝ka1D1+kb1q1；
Figure RE-GDA0002783559920000067
D1d＝u1e-Y110u1-Y120u2；
Figure RE-GDA0002783559920000068
Figure RE-GDA0002783559920000069
Figure RE-GDA00027835599200000610
Figure RE-GDA0002783559920000071
x22d＝ka2D2+kb2q2；
Figure RE-GDA0002783559920000072
D2d＝u2e-Y210u1-Y220u2；
Figure RE-GDA0002783559920000073
wherein k isa1、kb1、ka2、kb2The detailed design of the parameter is described in the following examples.
Figure RE-GDA0002783559920000078
For hip joint rotation angle desired value qd1The derivative of (c).
Figure RE-GDA0002783559920000079
For knee joint rotation angle desired value qd2The derivative of (c). u. of1eFor hip joint equivalent control quantity, u1Control of moment, u, for the hip joint2eFor knee joint equivalent control quantity, u2Controlling moment of knee joint, Y110、Y120、Y210、Y220For the bone angular acceleration system inverse matrix M0To finally obtain
Figure RE-GDA00027835599200000710
As an estimate of hip joint interference, w1aIs the hip joint disturbance observer state.
Figure RE-GDA00027835599200000711
As knee joint disturbance estimate, w2aIs the knee joint disturbance observer state.
In an exemplary embodiment of the present invention, the generating the hip and knee joint control torque according to the linear combination of the estimated hip and knee joint interference value, the error amount of the hip and knee joint rotation angle, the error integral amount, and the estimated hip and knee joint rotation angle rate signal value comprises:
Figure RE-GDA0002783559920000074
Figure RE-GDA0002783559920000075
wherein
Figure RE-GDA0002783559920000076
And
Figure RE-GDA0002783559920000077
respectively as said hip and knee joint interference estimates, e1And e2The difference between the rotation angle of hip joint and knee joint, s1And s2Are respectively the rotating angle error integral quantity u of the hip joint and the knee joint1eAnd u2eRespectively, the equivalent control quantity of hip joint and knee joint, D1And D2Estimated values of the angular velocity signals of hip joint and knee joint, u1And u2For the resulting hip and knee control moment, k21、k22And k is23、k11、k12And k is13The detailed design of the parameter is described in the following examples.
The generated hip joint control moment and knee joint control moment are transmitted to a lower limb skeleton rehabilitation robot system, so that the rehabilitation person can be assisted to walk.
Advantageous effects
The lower limb skeleton rehabilitation robot motion control method based on interference compensation has the advantages that firstly, a method of an interference observer is adopted, so that load uncertainty, friction uncertainty and unknown interference uncertainty in the rehabilitation robot can be effectively estimated and compensated. Secondly, an equivalent uncertainty method is adopted to perform equivalent estimation on the nominal quantity of the rehabilitation robot, measure and compensate the load, and perform estimation and compensation on the unknown friction torque. The compensation in the two aspects can greatly improve the dynamic effect of gait tracking control of the rehabilitation robot and improve the comfort of the rehabilitation person in assisting walking movement. Finally, the hip and knee motion angular rate of the rehabilitation robot is estimated in a nonlinear filtering differential mode, so that an angular rate measuring component is prevented from being installed, and the economic cost of the rehabilitation robot in production and manufacturing is reduced. Therefore, the invention has the advantages of economy, practicability and comfort, and has high engineering application and popularization values.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a motion control method of a lower limb skeleton rehabilitation robot based on interference compensation provided by the invention;
FIG. 2 is a schematic view of a geometry of a lower limb skeletal rehabilitation robot according to a method provided by an embodiment of the invention;
FIG. 3 is a graph of expected hip joint rotation angle values (in degrees) in accordance with a method provided by an embodiment of the present invention;
FIG. 4 is a graph of hip rotation angle measurements (in degrees) in accordance with a method provided by an embodiment of the present invention;
FIG. 5 is a graph of measured hip joint rotation angle versus expected hip joint rotation angle (in degrees) according to a method provided by an embodiment of the present invention;
FIG. 6 is a graph of hip joint rotation error angle (in degrees) according to a method provided by an embodiment of the present invention;
FIG. 7 is a curve of expected values of knee joint rotation angles (in degrees) according to a method provided by an embodiment of the present invention;
FIG. 8 is a graph of measured knee joint rotation angle in degrees according to a method provided by an embodiment of the present invention;
FIG. 9 is a graph of measured knee joint rotation angle versus expected value (in degrees) according to a method provided by an embodiment of the present invention;
FIG. 10 is a knee joint rotation error angle curve (unit: degree) according to a method provided by an embodiment of the present invention;
FIG. 11 is a hip joint rotational angular velocity estimation signal (in degrees/second) of a method provided by an embodiment of the present invention;
FIG. 12 is a signal (in degrees/second) of angular velocity estimation of knee joint rotation according to a method provided by an embodiment of the present invention;
FIG. 13 is a hip joint interference estimate (in Nm) for a method provided by an embodiment of the invention;
FIG. 14 is a knee joint interference estimate (in Nm) from a method provided by an embodiment of the invention;
FIG. 15 is a hip joint control moment (in Nm) of a method provided by an embodiment of the present invention;
FIG. 16 shows knee joint control moment (unit: nm) of a method provided by an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides a lower limb skeleton rehabilitation robot motion control method based on interference compensation, which comprises the steps of firstly adopting a nonlinear filter to carry out angular rate estimation on rotation angles of hip joints and knee joints, thereby avoiding the use of an angular rate measuring device and reducing the control economic cost. Secondly, a force sensor measurement mode is adopted to estimate and compensate the load moment of the rehabilitation robot. And then, compensating the friction torque and the nominal quantity of the system by adopting a friction modeling and equivalent control mode. Finally, the unknown uncertainties of the hip joint system and the knee joint system are compensated online in real time in a disturbance observer mode, so that the comfort level of the whole rehabilitee in assisting motion control is greatly improved.
The following will further explain and explain a motion control method of a lower limb skeletal rehabilitation robot based on interference compensation according to the present invention with reference to the accompanying drawings. Referring to fig. 1, the method for controlling the motion of the lower limb skeletal rehabilitation robot based on interference compensation includes the following steps:
step S10, respectively mounting FUTEK LSB200 type force sensors on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring load forces of a hip joint and a knee joint, and respectively estimating load moments of the hip joint and the knee joint according to the positions of the sensors;
specifically, first, a force sensor FUTEK LSB200 type is installed at a position C of the lower limb skeletal rehabilitation robot shown in fig. 2, and hip joint load force is measured and denoted as T1(ii) a Measuring the distance between hip joints A and CMakinga1. Measuring the distance between the thigh rods A and D of the lower limb skeleton rehabilitation robot, and recording the distance as l1。
Next, a force sensor FUTEK LSB200 was installed at F position of the lower limb skeletal rehabilitation robot shown in FIG. 2, and knee joint load force was measured and recorded as T2(ii) a Measuring the distance between the knee joints D and F, denoted as la2. Measuring the distance between the shank rods D and G of the lower limb skeleton rehabilitation robot, and recording the distance as l2。
Finally, the hip and knee joint load moments are estimated as follows:
Mf1＝la1T1；Mf2＝la2T2；
wherein M isf1For hip load moment estimation, Mf2The estimated value of the hip joint load moment is obtained.
Step S20, respectively installing incremental orthogonal photoelectric encoders on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring a hip joint rotation angle and a knee joint rotation angle of the skeletal robot, obtaining a hip joint angle error and a knee joint angle error according to the motion data of human gait, and respectively integrating to obtain error integral signals;
specifically, first, an incremental orthogonal photoelectric encoder is installed at the position B of the lower limb skeleton rehabilitation robot shown in fig. 2, and the hip joint rotation angle is measured and recorded as q1(ii) a An incremental orthogonal photoelectric encoder is arranged at the E position to measure the rotation angle of the knee joint and is recorded as q2。
Secondly, setting the expected values of the hip joint rotation angle and the knee joint rotation angle according to the motion data of human gait as follows:
qd1＝a11sin(b11p+c11)+a12sin(b12p+c12)+a13sin(b13p+c13)；
qd2＝a21sin(b21p+c21)+a22sin(b22p+c22)+a23sin(b23p+c23)；
wherein q isd1As desired value of hip joint rotation angle, qd2Is a desired value of the knee joint rotation angle, a11、a12、 a13、a21、a22、a23、b11、b12、b13、b21、b22、b23、c11、c12、c13、c21、c22、c23The detailed design of the human body is shown in the embodiment of the later-written case, which is gait data. p is the percentage of the gait cycle and is calculated as follows:
p＝t/Taa-floor(t/Taa)；
wherein T is the exercise time of the rehabilitee, TaaThe average period of the exercise steps of the rehabilitee. floor (T/T) indicates that an integer part is taken to the left, such as floor (3.5) ═ 3, and finally the obtained p is more than or equal to 0 and less than or equal to 1.
Finally, comparing the measured value of the hip joint rotation angle with an expected value to obtain a hip joint rotation angle error signal, and recording the error signal as e1The calculation method is as follows:
e1＝q1-qd1；
comparing the measured value of the knee joint rotation angle with the expected value to obtain a knee joint rotation angle error signal recorded as e2The calculation method is as follows:
e2＝q2-qd2；
integrating according to the hip joint rotation angle error signal to obtain a hip joint rotation angle error integral signal which is recorded as s1The calculation method is as follows:
Figure RE-GDA0002783559920000121
where dt represents the integration of the time signal.
Integrating according to the knee joint corner error signal to obtain a knee joint corner error integral signal, and recording as s2The calculation method is as follows:
Figure RE-GDA0002783559920000122
where dt represents the integration of the time signal.
Step S30, constructing a nonlinear filter differentiator according to the measurement signals of the hip joint rotation angle and the knee joint rotation angle to obtain a hip joint angular rate signal and a knee joint angular rate estimation signal;
specifically, first, the measurement signal q is obtained from the hip joint rotation angle1Establishing a nonlinear filter differentiator for calculating the hip joint rotation angular velocity estimation signal, denoted as D1The calculation method is as follows:
Figure RE-GDA0002783559920000123
D1(n)＝(q1(n)-q1a(n))/(Ta|q1(n)-q1a(n)|+1)；
wherein q is1a(n) is a filtered hip joint rotation angle signal, Ta、1The detailed design of the parameter is described in the following examples. D1(n) is D1T is the time interval between data.
Secondly, measuring the signal q according to the knee joint rotation angle2Establishing a nonlinear filtering differentiator for calculating the knee joint rotation angular velocity estimation signal, and recording the signal as D2The calculation method is as follows:
Figure RE-GDA0002783559920000124
D2(n)＝(q2(n)-q2a(n))/(Tb|q2(n)-q2a(n)|+2)；
wherein q is2a(n) is a filtered knee joint corner signal, Tb、2Is a constant valueThe detailed design thereof will be described later in the examples. D2(n) is D2T is the time interval between data.
Step S40, measuring the weight of thigh support rods and the weight of shank support rods, constructing a skeleton system angular acceleration matrix and an angular velocity matrix according to the hip joint angle measurement value and the knee joint angle measurement value, as well as the length of the thigh support rods and the length of the shank support rods, and performing inverse transformation to obtain a skeleton system angular acceleration inverse matrix;
specifically, first, the weight of the thigh strut is measured, and is designated as m1Measuring the weight of the shank strut, and recording as m2。
Secondly, calculating the element values of the bone system angular acceleration matrix according to the hip joint angle measurement value and the knee joint angle measurement value as follows:
Figure RE-GDA0002783559920000131
Figure RE-GDA0002783559920000132
Figure RE-GDA0002783559920000133
Figure RE-GDA0002783559920000134
then, according to the element values of the bone system angular acceleration matrix, a bone system angular acceleration matrix is constructed, denoted as M, and composed as follows:
Figure RE-GDA0002783559920000135
and solving the inverse matrix of the bone angular acceleration system, and recording the inverse matrix as M0Which satisfies M0M＝E，Where E is the identity matrix. At the same time M0The composition of (A) is as follows:
Figure RE-GDA0002783559920000136
finally, according to the hip joint angle measurement value, the knee joint angle measurement value and the angular velocity estimation value thereof, calculating the element values of the bone system angular velocity matrix as follows:
Π11＝-m2l1l2cos(q2)D2；
Π12＝-m2l1l2 cos(q2)D2/2；
Π21＝-m2l1l2cos(q2)D2/2；
Π22＝0；
constructing a bone system angular velocity matrix according to elements of the bone system angular velocity matrix, wherein the bone system angular velocity matrix is marked as C and comprises the following components:
Figure RE-GDA0002783559920000141
step S50, calculating an angular velocity equivalent control quantity according to the hip joint rotation angular velocity estimation value and the knee joint rotation angular velocity estimation value, and calculating a thigh rod gravity related quantity and a shank rod gravity related quantity according to physical structure data of the rehabilitation robot;
specifically, firstly, according to the hip joint rotation angular velocity estimation value, the knee joint rotation angular velocity estimation value and the skeleton system angular velocity matrix, angular velocity equivalent control quantity is calculated, which is recorded as H0aThe composition mode is as follows:
Figure RE-GDA0002783559920000142
wherein h is0a1Is the angular velocity equivalent control quantity of the hip joint, h0a2Is the knee joint angular velocity equivalent control quantity. H0aThe calculation method of (c) is as follows:
Figure RE-GDA0002783559920000143
wherein D1Estimating a signal for said angular velocity of rotation of the hip joint, D2And estimating signals for the knee joint rotation angular velocity.
Secondly, according to the signals of the hip joint rotation angle and the knee joint rotation angle and the physical structure data of the rehabilitation robot, the related quantity of the thigh rod gravity and the related quantity of the shank rod gravity are calculated and recorded as g1And g2The calculation method is as follows:
g1＝-m1gl1 sin(q1)/2-m2gl2 sin(q1-q2)/2-m2gl1sin(q1)；
g2＝-m2gl2sin(q1-q2)/2；
wherein g is a gravity acceleration constant, and 9.8 is taken.
Step S60, compensating and designing the friction force of the hip joint and the friction force of the knee joint according to the estimated value of the rotation angle rate of the hip joint and the knee joint, and then calculating the equivalent control quantity of the hip joint and the knee joint according to the estimated value of the load moment of the hip joint and the knee joint and the inverse matrix of the bone angular acceleration system;
specifically, firstly, the estimated value D of the rotation angle rate of the hip joint and the knee joint is obtained1And D2Respectively calculating the friction compensation between hip joint and knee joint, and respectively recording the compensation as fa1And fa2The calculation method is as follows:
fa1＝fsλ1+fc(1-λ1)；
fa2＝fsλ2+fc(1-λ2)；
Figure RE-GDA0002783559920000151
Figure RE-GDA0002783559920000152
wherein f issAnd fcAre estimated values of static friction coefficient and dynamic friction coefficient, respectively.
Secondly, according to the load moment estimated value M of the hip joint and the knee jointf1And Mf2Angular velocity equivalent control quantity H0aCompensation f of friction between hip joint and knee jointa1And fa2And the thigh bar weight-related quantity g and the shank bar weight-related quantity g1And g2Calculating the equivalent control quantity of hip joint and knee joint, respectively recording as u1eAnd u2eThe calculation method is as follows:
Figure RE-GDA0002783559920000153
step S70, constructing a hip joint and knee joint interference observer according to the equivalent control quantity of the hip joint and the knee joint, and respectively calculating the state and the interference estimation value of the hip joint and knee joint interference observer;
specifically, first, a hip joint disturbance observer is designed as follows:
Figure RE-GDA0002783559920000154
Figure RE-GDA0002783559920000155
Figure RE-GDA0002783559920000156
Figure RE-GDA0002783559920000157
x12d＝ka1D1+kb1q1；
Figure RE-GDA0002783559920000161
wherein k isa1、kb1The detailed design of the parameter is described in the following examples.
Figure RE-GDA00027835599200001611
For hip joint rotation angle desired value qd1The derivative of (c). Wherein D1dIs calculated as follows:
D1d＝u1e-Y110u1-Y120u2；
wherein u is1eFor hip joint equivalent control quantity, u1Control of moment, u, for the hip joint2Controlling moment of knee joint, Y110、Y120For the bone angular acceleration system inverse matrix M0The elements of (a) are as follows:
Figure RE-GDA0002783559920000162
to obtain finally
Figure RE-GDA0002783559920000163
I.e. the hip joint disturbance estimate, w1aIs the hip joint disturbance observer state.
Secondly, the knee joint disturbance observer is designed as follows:
Figure RE-GDA0002783559920000164
Figure RE-GDA0002783559920000165
Figure RE-GDA0002783559920000166
Figure RE-GDA0002783559920000167
x22d＝ka2D2+kb2q2；
Figure RE-GDA0002783559920000168
wherein k isa2、kb2The detailed design of the parameter is described in the following examples.
Figure RE-GDA00027835599200001612
For knee joint rotation angle desired value qd2The derivative of (c). Wherein D2dIs calculated as follows:
D2d＝u2e-Y210u1-Y220u2；
wherein u is2eFor knee joint equivalent control quantity, u1Control of moment, u, for the hip joint2Controlling moment of knee joint, Y210、Y220For the bone angular acceleration system inverse matrix M0The elements of (a) are as follows:
Figure RE-GDA0002783559920000169
to obtain finally
Figure RE-GDA00027835599200001610
I.e. knee joint disturbance estimate, w2aIs the knee joint disturbance observer state.
And step S80, performing linear combination according to the hip joint and knee joint interference estimation value, the hip joint and knee joint rotation angle error amount, the error integral amount and the hip joint and knee joint rotation angle rate signal estimation value to generate hip joint and knee joint control moment, and realizing the final motion control of the lower limb skeleton rehabilitation robot.
Specifically, firstly, the estimated value of the hip joint interference is obtained
Figure RE-GDA0002783559920000171
Error of hip joint rotation angle e1And an error integral quantity s1Hip joint equivalent control quantity u1eHip joint rotation angular rate signal estimation value D1Linear combination is carried out to generate hip joint control moment u1The calculation method is as follows:
Figure RE-GDA0002783559920000172
wherein k is11、k12And k is13The detailed design of the parameter is described in the following examples.
Secondly, according to the knee joint interference estimated value
Figure RE-GDA0002783559920000173
Error of knee joint rotation angle e2Error integral quantity s2Knee joint equivalent control quantity u2eAnd knee joint rotation angle rate signal estimated value D2Linearly combined to generate knee joint control moment u2The calculation method is as follows:
Figure RE-GDA0002783559920000174
wherein k is21、k22And k is23The detailed design of the parameter is described in the following examples.
And finally, the generated hip joint control moment and knee joint control moment are transmitted to a lower limb skeleton rehabilitation robot system, so that the rehabilitation person can be assisted to walk.
Case implementation and computer simulation result analysis
In order to verify the correctness and the effectiveness of the method provided by the invention, the following case simulation is provided for simulation.
In step S10, l is measured1＝0.52，l20.42. In step S20, T is selectedaa＝2， a11＝20、a12＝81、a13＝2.5、a21＝34、a22＝8、a23＝23、b11＝7.3、b12＝0.07、b13＝17、 b21＝2、b22＝15、b23＝11、c11＝1.1、c12＝-0.02、c13＝-4.7、c21＝-3.4、c22＝-1、c23-2.3. The expected hip joint rotation angle values are shown in fig. 3, the measured hip joint rotation angles are shown in fig. 4, the comparison between the two values is shown in fig. 5, the hip joint rotation error angles are shown in fig. 6, the expected knee joint rotation angles are shown in fig. 7, the measured knee joint rotation angles are shown in fig. 8, and the comparison between the two values is shown in fig. 9. The knee joint rotation error angle is shown in fig. 10. In step S30, T is selecteda＝0.01、1＝0.05、Tb＝0.01、2Fig. 11 shows hip joint rotational angular velocity estimation signals and fig. 12 shows knee joint rotational angular velocity estimation signals obtained when T is 0.05 and T is 0.001.
In step S40 and step S50, m is measured1＝1.5，m 21. In step S60, f is selecteds0.05 and fc0.05. In step S70, k is selecteda1＝5、kb1＝0.3、ka2＝5、kb2The hip joint interference estimate value is shown in fig. 13 and the knee joint interference estimate value is shown in fig. 14, respectively, at 0.3.
In step S80, k is selected11＝255、k12＝20、k13＝2、k21＝255、k22＝20、k23The resulting hip control torque is obtained as shown in fig. 15The knee joint control moment is shown in fig. 16.
As can be seen from fig. 13 and 14, the method of the present invention provides an estimation of unknown disturbance moments and system uncertainty in the hip and knee joints, the estimation fluctuating with gait. It can be seen from fig. 5 and 9 that the method provided by the present invention can better track the expected gait, while fig. 6 and 10 show the tracking error in the presence of system interference and uncertainty, and it can be seen that the error fluctuates around the value of 0, and the tracking effect can meet the needs of the rehabilitee as can be seen from the comparison curves shown in fig. 5 and 9. Fig. 11 and 12 show the estimated hip joint rotation angle rate and knee joint rotation angle rate. The invention only simply measures the rotation angles of the hip joint and the knee joint, but does not measure the angular rates of the hip joint and the knee joint, and carries out approximate estimation solution of digital filtering differential. Therefore, the estimated value can completely meet the control requirement of the rehabilitation robot, so that the installation of an angular velocity measurement component is saved, and the whole method is simple and economical. In conclusion, the lower limb skeleton rehabilitation robot method provided by the invention is completely feasible and has high engineering practical value.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims (8)

1. A motion control method of a lower limb skeleton rehabilitation robot based on interference compensation is characterized by comprising the following steps:
step S10, respectively mounting FUTEK LSB200 type force sensors on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring load forces of a hip joint and a knee joint, and respectively estimating load moments of the hip joint and the knee joint according to the positions of the sensors;
step S20, respectively installing incremental orthogonal photoelectric encoders on a thigh rod and a shank rod of the lower limb skeletal rehabilitation robot, measuring a hip joint rotation angle and a knee joint rotation angle of the skeletal robot, obtaining a hip joint angle error and a knee joint angle error according to the motion data of human gait, and respectively integrating to obtain error integral signals;
step S30, constructing a nonlinear filter differentiator according to the measurement signals of the hip joint rotation angle and the knee joint rotation angle to obtain a hip joint angular rate signal and a knee joint angular rate estimation signal;
step S40, measuring the weight of thigh support rods and the weight of shank support rods, constructing a skeleton system angular acceleration matrix and an angular velocity matrix according to the hip joint angle measurement value and the knee joint angle measurement value, as well as the length of the thigh support rods and the length of the shank support rods, and performing inverse transformation to obtain a skeleton system angular acceleration inverse matrix;
step S50, calculating an angular velocity equivalent control quantity according to the hip joint rotation angular velocity estimation value and the knee joint rotation angular velocity estimation value, and calculating a thigh rod gravity related quantity and a shank rod gravity related quantity according to physical structure data of the rehabilitation robot;
step S60, compensating and designing the friction force of the hip joint and the friction force of the knee joint according to the estimated value of the rotation angle rate of the hip joint and the knee joint, and then calculating the equivalent control quantity of the hip joint and the knee joint according to the estimated value of the load moment of the hip joint and the knee joint and the inverse matrix of the bone angular acceleration system;
step S70, constructing a hip joint and knee joint interference observer according to the equivalent control quantity of the hip joint and the knee joint, and respectively calculating the state and the interference estimation value of the hip joint and knee joint interference observer;
and step S80, performing linear combination according to the hip joint and knee joint interference estimation value, the hip joint and knee joint rotation angle error amount, the error integral amount and the hip joint and knee joint rotation angle rate signal estimation value to generate hip joint and knee joint control moment, and realizing the final motion control of the lower limb skeleton rehabilitation robot.
2. The method as claimed in claim 1, wherein the measuring hip joint rotation angle and knee joint rotation angle of the skeletal robot, and according to the motion data of human gait, obtaining hip joint angle error and knee joint angle error, and integrating them separately to obtain error integration signal comprises:
qd1＝a11sin(b11p+c11)+a12sin(b12p+c12)+a13sin(b13p+c13)；
qd2＝a21sin(b21p+c21)+a22sin(b22p+c22)+a23sin(b23p+c23)；
p＝t/Taa-floor(t/Taa)；
e1＝q1-qd1；
e2＝q2-qd2；
s1＝∫e1dt；
s2＝∫e2dt；
wherein q is1For measurements of the angle of rotation of the hip joint of a robot for lower extremity skeletal rehabilitation, q2The measured value is the knee joint rotation angle of the lower limb skeleton rehabilitation robot. q. q.sd1As desired value of hip joint rotation angle, qd2Is a desired value of the knee joint rotation angle, a11、a12、a13、a21、a22、a23、b11、b12、b13、b21、b22、b23、c11、c12、c13、c21、c22、c23The human body is gait data. p is the percentage of the gait cycle, T is the locomotion time of the rehabilitee, TaaThe average period of the exercise steps of the rehabilitee. floor (T/T) indicates to the leftTaking an integral part, such as floor (3.5) ═ 3, and finally obtaining p which is more than or equal to 0 and less than or equal to 1. e.g. of the type1For hip joint angle error signals, e2Is knee joint angle error signal, s1The signal is integrated for the hip joint rotation angle error, where dt represents the integration of the time signal. s2The knee joint rotation angle error integral signal is obtained.
3. The method as claimed in claim 1, wherein the step of constructing a nonlinear filter differentiator according to the measurement signals of the hip joint rotation angle and the knee joint rotation angle to obtain a hip joint angular rate signal and a knee joint angular rate estimation signal comprises:
Figure RE-FDA0002783559910000031
D1(n)＝(q1(n)-q1a(n))/(Ta|q1(n)-q1a(n)|+1)；
Figure RE-FDA0002783559910000032
D2(n)＝(q2(n)-q2a(n))/(Tb|q2(n)-q2a(n)|+2)；
wherein q is1For measuring signals of angle of rotation of the hip joint, D1Estimating a signal for the angular velocity of rotation of the hip joint, q1a(n) is a filtered hip joint rotation angle signal, Ta、1、Tb、2Is a constant parameter. q. q.s2For measuring knee joint rotation angle, D2Estimating a signal for knee joint rotational angular velocity, q2aAnd (n) is a filtering knee joint rotation angle signal, and T is a time interval between data.
4. The method for controlling the motion of the robot for rehabilitation of lower limbs bones based on interference compensation according to claim 1, wherein the step of constructing the angular acceleration matrix and the angular velocity matrix of the skeletal system and the inverse matrix thereof according to the hip joint angle measurement value, the knee joint angle measurement value, the length of the thigh strut and the length of the shank strut comprises:
Figure RE-FDA0002783559910000033
Figure RE-FDA0002783559910000034
Figure RE-FDA0002783559910000035
Figure RE-FDA0002783559910000036
Figure RE-FDA0002783559910000037
M0M＝E；
Figure RE-FDA0002783559910000038
Π11＝-m2l1l2cos(q2)D2；
Π12＝-m2l1l2cos(q2)D2/2；
Π21＝-m2l1l2cos(q2)D2/2；
Π22＝0；
Figure RE-FDA0002783559910000041
wherein m is1The weight of the thigh strut, m2Is the weight of the leg strut, M is the skeletal system angular acceleration matrix, M0Is the inverse matrix of the angular acceleration of the skeletal system, and E is the unit matrix. C is the bone system angular velocity matrix.
5. The method for controlling the motion of the lower limb skeletal rehabilitation robot based on the interference compensation according to claim 1, wherein the step of calculating the angular velocity equivalent control quantity according to the hip joint rotational angular velocity estimation value and the knee joint rotational angular velocity estimation value and the step of calculating the thigh rod gravity related quantity and the shank rod gravity related quantity according to the physical structure data of the rehabilitation robot comprises the steps of:
Figure RE-FDA0002783559910000042
g1＝-m1gl1sin(q1)/2-m2gl2sin(q1-q2)/2-m2gl1sin(q1)；
g2＝-m2gl2sin(q1-q2)/2；
wherein H0aFor angular velocity equivalent control quantity, D1Estimating a signal for said angular velocity of rotation of the hip joint, D2Estimating a signal for said knee joint rotational angular velocity, h0a1Is the angular velocity equivalent control quantity of the hip joint, h0a2Is the knee joint angular velocity equivalent control quantity, g1And g2G is a gravity acceleration constant, and the value of g is 9.8.
6. The method for controlling the motion of the robot for lower limb skeletal rehabilitation based on interference compensation according to claim 1, wherein the step of designing the compensation of the friction between the hip joint and the knee joint according to the estimated value of the rotation angle rate of the hip joint and the knee joint, and calculating the equivalent control quantity of the hip joint and the knee joint comprises the following steps:
fa1＝fsλ1+fc(1-λ1)；
fa2＝fsλ2+fc(1-λ2)；
Figure RE-FDA0002783559910000043
Figure RE-FDA0002783559910000051
Mf1＝la1T1；
Mf2＝la2T2；
Figure RE-FDA0002783559910000052
wherein T is1And T2Measured values of the load forces of the hip and knee joints, respectively,/a1Is the distance between the hip joint and the installation position of the hip load force sensor, la2Is the distance between the knee joint and the installation position of the knee load force sensor. D1And D2Is an estimate of the angular velocity of rotation of the hip and knee joints, fa1And fa2The compensation amount of the friction force between the hip joint and the knee joint, fsAnd fcAre estimated values of static friction coefficient and dynamic friction coefficient, respectively. Mf1And Mf2For hip and knee load moment estimates, H0aFor the equivalent control quantity of angular velocity, g1And g2The thigh bar gravity related quantity and the shank bar gravity related quantity u1eAnd u2eAnd finally calculating the equivalent control quantity of the hip joint and the knee joint.
7. The method for controlling the motion of the lower limb skeleton rehabilitation robot based on the interference compensation as claimed in claim 1, wherein the step of constructing the hip joint and knee joint interference observer according to the equivalent control quantity of the hip joint and the knee joint, and the step of calculating the state and the interference estimation value of the hip joint and knee joint interference observer respectively comprises the steps of:
Figure RE-FDA0002783559910000053
Figure RE-FDA0002783559910000054
Figure RE-FDA0002783559910000055
Figure RE-FDA0002783559910000056
x12d＝ka1D1+kb1q1；
Figure RE-FDA0002783559910000057
D1d＝u1e-Y110u1-Y120u2；
Figure RE-FDA0002783559910000058
Figure RE-FDA0002783559910000059
Figure RE-FDA0002783559910000061
Figure RE-FDA0002783559910000062
x22d＝ka2D2+kb2q2；
Figure RE-FDA0002783559910000063
D2d＝u2e-Y210u1-Y220u2；
Figure RE-FDA0002783559910000064
wherein k isa1、kb1、ka2、kb2Is a constant parameter.
Figure RE-FDA0002783559910000065
For hip joint rotation angle desired value qd1The derivative of (c).
Figure RE-FDA0002783559910000066
For knee joint rotation angle desired value qd2The derivative of (c). u. of1eFor hip joint equivalent control quantity, u1Control of moment, u, for the hip joint2eFor knee joint equivalent control quantity, u2Controlling moment of knee joint, Y110、Y120、Y210、Y220For the bone angular acceleration system inverse matrix M0To finally obtain
Figure RE-FDA0002783559910000067
As an estimate of hip joint interference, w1aIs the hip joint disturbance observer state.
Figure RE-FDA0002783559910000068
As knee joint disturbance estimate, w2aIs the knee joint disturbance observer state.
8. The method as claimed in claim 1, wherein the step of generating the hip and knee joint control torque by linear combination according to the estimated hip and knee joint interference value, the error amount of the hip and knee joint rotation angle, the error integral amount, and the estimated hip and knee joint rotation angle rate signal value comprises:
Figure RE-FDA0002783559910000069
Figure RE-FDA00027835599100000610
wherein
Figure RE-FDA00027835599100000611
And
Figure RE-FDA00027835599100000612
respectively as said hip and knee joint interference estimates, e1And e2The difference between the rotation angle of hip joint and knee joint, s1And s2Are respectively the rotating angle error integral quantity u of the hip joint and the knee joint1eAnd u2eRespectively, the equivalent control quantity of hip joint and knee joint, D1And D2Estimated values of the angular velocity signals of hip joint and knee joint, u1And u2For the resulting hip and knee control moment, k21、k22And k is23、k11、k12And k is13Is a constant parameter.
The generated hip joint control moment and knee joint control moment are transmitted to a lower limb skeleton rehabilitation robot system, so that the rehabilitation person can be assisted to walk.
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