脚踝关节康复训练设备转动机构角度智能控制
Intelligent Control of Rotation Mechanism Angle of Ankle Rehabilitation Training Equipment
王志芬 1朱强 2赵亚利1
作者信息
- 1. 中原科技学院机电工程学院,河南 郑州 450000
- 2. 郑州大学机械与动力工程学院,河南 郑州 450000
- 折叠
摘要
为提升脚踝关节康复训练效果,设计了训练设备转动机构角度智能控制方法.以康复医学与人机工程学为基础设计脚踝关节康复训练设备转动机构,帮助踝关节完成内收、外展、趾曲、背曲运动.根据阻抗控制原理设计转动机构角度控制器,该控制器利用阻抗控制环处理期望人机交互力与实际人机交互力间的偏差,获取转动机构角度补偿量.将其输入至角度控制环内,实现转动机构与患者脚踝人机接触的柔顺性控制.引入自适应权重策略改进标准的海鸥算法,通过优化控制器参数提升转动机构角度控制效果.实验结果表明:在不同康复训练幅度时,该方法均可精准控制转动角度;在不同驱动电机转速时,该方法控制转动机构角度的精度较高;应用该方法后,在背伸、内翻与外展康复训练时,脚踝关节康复训练的运动轨迹非常连贯及平滑,并未出现抖动现象,说明该方法角度控制的柔顺性较优,康复训练效果较佳.
Abstract
In order to improve the effect of ankle rehabilitation training,an intelligent angle control method for the rotation mechanism of training equipment is designed.Based on rehabilitation medicine and ergonomics,the rotation mechanism of ankle rehabilitation training equipment is designed to help the ankle to complete the movement of adduction,abduction,toe flexion and dorsiflexion.According to the principle of impedance control,the angle controller of rotating mechanism is designed.The de-viation between the expected human-machine interaction force and the actual human-machine interaction force is processed by the impedance control ring,and the angle compensation of rotating mechanism is obtained.It is input into the angle control ring to achieve compliant control between the rotating mechanism and the patient's ankle.The adaptive weight strategy was introduced to improve the standard seagull algorithm,and the angle control effect of rotating mechanism was improved by optimizing the controller parameters.Experimental results show that the method can accurately control the rotation angle in different rehabilita-tion training ranges.When the driving speed of motor is different,this method can control the angle of rotation mechanism with high precision.After the application of this method,in the rehabilitation training of dorsiflexion,varus and abduction,the mo-tion track of ankle joint rehabilitation training is very consistent and smooth,and there is no shaking phenomenon,indicating that this method has better flexibility of angle control and better rehabilitation training effect.
关键词
脚踝关节/康复训练/转动机构/角度控制/阻抗控制/海鸥算法Key words
Ankle Joint/Rehabilitation Training/Rotating Mechanism/Angle Control/Impedance Control/Sea-gulls Algorithm引用本文复制引用
基金项目
河南省高等学校青年骨干教师资助项目(2019GGJS295)
出版年
2023
NETL
NSTL
维普
万方数据