全方位移动式下肢康复机器人自适应交互控制OA

Aiming at the problem of traditional position control ignoring human-robot interaction,a novel omnidirectional mobile lower limb rehabilitation robot was taken as the object,and an adaptive interaction control strategy based on fuzzy admittance control was proposed.Firstly,the robot structure was introduced,which mainly consists of a lower limb exoskeleton and an omnidirectional mobile platform.Then,the kinematic model of the lower limb exoskeleton,dynamic model of the omnidirectional mobile platform,and motion coordination model between them were established for the subsequent control.Then,a sliding mode controller was designed to combine with the exoskeleton kinematic and motion coordination model to achieve trajectory tracking,and a fuzzy admittance controller was designed to adjust gait speed based on human-robot interaction.Finally,a trajectory tracking experiment and an interaction experiment were conducted on a healthy subject,and the results show that the control strategy has good trajectory tracking performance and can adaptively adjust gait speed according to the subject's motion intention.