面向上肢康复的双臂机器人仿治疗师交互控制OA

Rehabilitation robots with therapist-like personalized,compliant,and safe interaction can effectively pre-vent secondary injuries and improve rehabilitation efficiency.This paper presents a novel upper-limb rehabilitation framework based on a dual-arm robot to achieve therapist-like interaction.First,with safety as the primary object-ive,a 7-DOF upper-limb kinematic model is established to evaluate the reachable training spaces of the upper-limb end and the rear end of the forearm.Taking advantage of dual-arm rehabilitation,a non-redundant inverse kin-ematics method is proposed to constrain joint angles,thereby constructing a safety mechanism under task-joint dual constraints.Second,considering personalized and compliant interaction,a potential-field-based assist-as-needed con-trol strategy is designed.It enables the dual-arm robot to learn therapist-specific personalized traction characterist-ics from a single demonstration and provide adaptive compliant assistance according to the upper-limb motor abil-ity and engagement.Experimental results show that the proposed method combines the high motion adaptability and minimal physical contact of end-effector-based rehabilitation robots with the precise spatial training capability of exoskeleton robots.It can also implement assist-as-needed training based on the upper-limb training state.As dual-arm and humanoid robots become more widely adopted,the proposed scheme provides a new pathway for de-livering therapist-like personalized,compliant,and safe rehabilitation training in clinical and home settings.