基于意图识别的康复机械臂的控制策略分析-analysis of control strategy of rehabilitation manipulator based on intention recognition.docxVIP

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基于意图识别的康复机械臂的控制策略分析-analysis of control strategy of rehabilitation manipulator based on intention recognition.docx

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基于意图识别的康复机械臂的控制策略分析-analysis of control strategy of rehabilitation manipulator based on intention recognition

AbstractAsmanycountriesstepintotheagingsocietyrapidly,combinedwiththehighincidenceofthecerebrovascularaccidentorstrokeintheelderlypopulation,moreandmoreelderscannotenjoythehealthylifeduetothisdisease.Apotentialconsequenceofthestrokeistheimpairmentofthemotorfunctionoftheupperlimb,andthenthedifficultytoperformactivitiesofdailyliving.Meanwhile,therearealsomanyelderswhosufferfromdeficitsofmotorfunctionofthelimbs,whichareusuallycausedbylackofmusclestrength.Manyresearchesonrehabilitationmedicineshowsthatatherapeutictreatmentconsistingofhighlyrepetitiverehabilitationtrainingoftheimpairedlimb,combinedwiththeguidanceofusermotionintention,isoneofthemosteffectiveapproachestopartlyrestorethemotionabilities.Inthisthesis,acooperativecontrolstrategyoftheupperlimbrehabilitationroboticexoskeletonguidedbytheupperlimbmotionintentionwasproposedtointegratetheperceptionofthehumanandtheintelligentcooperativeassistanceabilityoftherobotstoimprovetheeffectivenessofrehabilitationtraining.Inthisthesis,a3-DOFupperlimbrehabilitationroboticexoskeletonwasdesignedandadetailedanalysisofthekinematicsoftheexoskeletonwasprovided.Meanwhile,anewhuman-robotinterfaceforupperlimbroboticexoskeletonbasedontheFSRswasproposedtoinfertheupperlimbmotionintentionbyapplyingtheinteractionforcesbetweentheupperlimbandtheexoskeleton.Thedesignofthedouble-shellstructurenotonlyensurespatientcomfortandsafetywear,whilealsoensuringtheaccuracyofthepressuresignalmeasurement.Onthisbasis,weproposedthehardwareandsoftwaredesignofthecontrolsystemoftherehabilitationexoskeleton.Inthehardwarepart,thecontrolanddriveplatformwasdesigned,andanewmethodforaccuratemeasurementoftheforcesignalsbasedontheFSRsensorswasproposed.Inthesoftwarepart,theworkflowofthecontrolsystem、communicationmodulesandothermoduleswasintroduced.Onthisbasis,amethodofquantitativelydescribeoftheupperlimbmotionintention(IRD)wasproposed.ThestatemodelandtheobservationmodelofIRDwerebuilt.Basedonthesetwomodels,thevariabledimensionKalmanfilterwasusedtoonlineinfertheIRD.Guidedby