近年来，脑卒中和交通事故造成上肢损伤的人数逐年上升，医疗领域对康复器械的需求越来越大。为满足实际需求，开发以气动人工肌肉为驱动器的4自由度（肩关节外收/内展（被动）、前驱/后伸、肘关节屈曲、腕关节屈曲）可穿戴上肢康复机器人。首先设计上肢康复机器人的结构，并采用气动人工肌肉作为肘关节与腕关节的驱动器。然后针对该上肢康复机器人，研究主动康复训练控制策略，设计两种控制策略。通过穿戴实验验证控制策略的有效性和实际应用价值。
In recent years, the upper limb injuries increased year by year due to the stroke and traffic accidents, which caused the demanding for rehabilitation equipment. In order to meet the actual needs, we developed a four-degrees-of-freedom robot which is driven by pneumatic actuator muscle (shoulder joint adduction/in show (passive), precursor/reach, elbow flexion, and wrist flexion). First, the structure of upper limb rehabilitation robot was designed, and pneumatic artificial muscle was used as the driver of elbow joint and wrist joint. Then, for the upper limb rehabilitation robot designed in this studg, two kinds of control under active rehabilitation training were designed. Finally, the effectiveness of the control strategy is verified through the wear tests, which shows the practical value of the rehabilitation robot.
[1] 侯增广,赵新刚,程龙,等.康复机器人与智能辅助系统的研究进展[J].自动化学报,2016,42(12):1765-1779.
[2] Huang J, Tu X, He J. Design and evaluation of the RUPERT wearable upper extremity exoskeleton robot for clinical and in-home therapies[J]. Transactions on Systems Man & Cybernetics Systems, 2015, 46(7):926-935.
[3] Dinh B K, Xiloyannis M, Antuvan C W, et al. Hierarchical cascade controller for assistance modulation in a soft wearable arm exoskeleton[J]. Robotics and Automation Letters, 2017, 2(3):1786-1793.
[4] 郭鑫. 面向助老助残的模块化机械臂研究[D]. 哈尔滨:哈尔滨工业大学, 2014.
[5] 潘礼正, 宋爱国, 徐国政,等. 上肢康复机器人实时安全控制[J]. 机器人, 2012, 34(2):197-203.
[6] 张佳帆. 基于柔性外骨骼人机智能系统基础理论及应用技术研究[D]. 杭州:浙江大学, 2009.
[7] 吴军. 上肢康复机器人及相关控制问题研究[D]. 武汉:华中科技大学, 2012.
[8] 隋立明, 包钢, 王祖温. 气动肌肉在康复工程中的应用[J]. 中国临床康复, 2004, 8(2):320-321.
[9] Junius K, Cherelle P, Brackx B, et al. On the use of adaptable compliant actuators in prosthetics, rehabilitation and assistive robotics[C]//Robot Motion and Control. IEEE, 2013:1-6.
[10] Cherelle P, Grosu V, Damme M V, et al. Use of compliant Actuators in prosthetic feet and the design of the AMP-Foot 2.0[M]//Modeling, Simulation and Optimization of Bipedal Walking, 2013:17-30.
[11] 陈尔奎, 喻俊志, 王硕,等. 多仿生机器鱼群体及单体控制体系结构的研究[J]. 中国科学院研究生院学报, 2003, 20(2):232-237.
[12] 杨智勇, 归丽华, 杨秀霞,等. 骨骼服直接力控制方法研究与仿真[J]. 系统仿真学报, 2009, 21(24):7868-7872.
[13] 张超. 下肢助力外骨骼机器人研究[D].哈尔滨:哈尔滨工业大学,2016.
[14] 张佳帆. 基于柔性外骨骼人机智能系统基础理论及应用技术研究[D]. 杭州:浙江大学, 2009.
[15] 董晓星. 空间机械臂力柔顺控制方法研究[D]. 哈尔滨:哈尔滨工业大学, 2013.
[16] 周扬. 双臂机器人的控制系统建立及阻抗控制研究[D]. 哈尔滨:哈尔滨工业大学, 2014.
