Research on Tracking Movement Intention using a 6-DOFs Robotic Arm in Position Mode
In order to enable stroke patients to obtain accurate,real-time and stable recognition effects during active rehabilitation,this study proposes a 6-DOFs-based collaborative robot as a rehabilitation exer-cise equipment.The patient's movement intention is captured through the degree and direction of the interac-tion between the patient's hand and the six-dimensional force sensor at the end of the robotic arm.The con-trol system uses the parsed movement intention to set and drive the movement direction and speed of the robotic arm end.Movement intention is mainly expressed by two indicators:movement direction and movement degree.The former is determined by the direction of the resultant force of each component force of the force sensor,and the latter is determined by the size of the resultant force.At the same time,the angle between the resultant force and the tangent direction at the trajectory point of the TCP must be detected.and finally determine the speed of the end of the machine arm moving along the trajectory.
Six-DOFsmovement intentionMotion Control Algorithm
万方数据
维普
