基于PHAToM的虚拟力反馈控制技术研究1.docVIP

基于虚拟力反馈的康复训练控制研究 王岚 彭晋 （哈尔滨工程大学机电工程学院，黑龙江 哈尔滨 15001） 摘 要：人机交互力控制是康复训练过程的一个重要技术问题，本文基于不带力传感器的PHANToM Omni力反馈装置，研究了虚拟力反馈控制。提出了一种以位置控制作为内环、阻抗控制作为外环的虚拟反馈力算法，分析阻抗控制对力反馈装置的末端力的控制性能。通过虚拟墙实验和虚拟重力实验，验证了所研究的虚拟力反馈控制算法的可行性。 Research on Rehabilitation Training Control Based on Virtual Force Feedback Wang Lan, Peng Jin （Harbin Engineering University，School of Mechatronic Engineering，Heilongjiang，Harbin 15001） Abstract：Human-robot interaction force control is an important technology in rehabilitation training. Based on the PHANToM Omni force feedback device, force Sensorless virtual force feedback control is researched in this paper. An kind of virtual force feedback control algorithm with position inner loop and force impedance outer loop is proposed. The performance of PHANToM force tracking is analyzed. Experiment of virtual wall and virtual gravity are done, and from the experiment result, we can see that the force Sensorless virtual force feedback control algorithm is feasibility. 1.The introduction As the aging society coming,the incidence of stroke is on the rise.researchers will apply robot technology in the field of stroke rehabilitation in order to improve the efficiency of rehabilitation training.Europe and the United States, Japan and other advanced countries attaches great importance to it through years of scientific research efforts, many scientific research institutions and medical units have achieved considerable results, even have the transition, such as MIT - around, MIME, ARM - Guide and ARM-in, etc.The domestic study on rehabilitation robot in recent years has just begun, some domestic colleges and universities, such as Tsinghua University, Shanghai Jiaotong University, Harbin Engineering University, Harbin Institute of Technology, has developed a rehabilitation robot prototype is formed, and do a lot of the experimental study. Human-robot interaction force control is an important technology in rehabilitation training.For patients with hemiplegia, th