多柔体耦合驱动腰部康复机器人系统关键技术研究

Rehabilitation robot is an inevitable choice for solving the unreasonable distribution of rehabilitation medical resources and the contradiction between supply and demand of associated professional talents. The behavior coordination and natural interaction between rehabilitation robot and patients under the dynamic unstructured environment are the bottlenecks of the development and application of rehabilitation robots. Combining the large workspace and heavy load of the cable-driven mechanism with the high power-weight ratio and flexibility of the shape memory alloy, the key theory and technology of the patient-oriented flexible multi-body coupling-driven waist rehabilitation robot are mainly concerned including dynamic characteristics, intelligent human-robot interaction, and reliability monitoring. Innovative design, dimensional synthesis and optimization of the flexible multi-body coupling-driven waist rehabilitation robot are performed. The global and multi-domain coupling dynamic model of the waist rehabilitation robot is established to investigate the dynamic characteristics and the mechanism of variable stiffness driving. The intent inference of patients based on multi-sensor fusion and the multi-mode rehabilitation training strategy for waist rehabilitation robot are studied in order to establish the robot-human-information interactive interface and realize the intelligent human-robot cooperative control. On the basis of dynamic reliability analysis of the flexible multi-body coupling-driven waist rehabilitation robot, human-robot dynamic safety monitoring system is developed. The comprehensive experiments, analysis and evaluation of the human-robot interaction are carried out to provide the theoretical and technical basises for the development and wide application of the waist rehabilitation robot.

康复机器人是解决我国康复医疗资源分布不合理和专业人才供需矛盾的必然选择，而康复机器人-患者在动态非结构环境中的行为协调与自然交互是制约康复机器人发展与应用的瓶颈。结合柔索驱动的大工作空间、大负载特性和形状记忆合金驱动的高功率/质量比与柔顺性，本项目研究面向患者的多柔体耦合驱动腰部康复机器人动态特性、智能人机交互与可靠性监控等关键技术。开展多柔体耦合驱动腰部康复机器人的模块化创新设计、构型综合与优化，建立机器人全局、多域耦合动力学模型，探索其系统变刚度驱动机理与动态特性；研究多传感器信息融合引导下的患者意图推断与腰部康复机器人多模式康复训练策略，建立机器人-人-信息系统交互接口，实现智能人机协同控制；进行多柔体耦合驱动腰部康复机器人系统动态可靠性分析和人机动态安全监控系统开发，开展人机交互性能综合实验与分析评估，为腰部康复机器人开发和广泛应用提供理论依据和技术支撑。

康复机器人是当前国际机器人领域的研究热点，面向任务的重复运动可以提高运动功能障碍患者的肌肉力量和协调性。为了解决腰部功能损伤患者数量日益增多而康复设备短缺的状况，本项目针对康复机器人和患者在动态非结构环境中行为协调和自然交互等多学科交叉问题，以多柔体耦合驱动腰部康复机器人为研究对象，采取理论研究与原理性实验验证相结合、基础理论与关键技术研究相结合的方式，深入开展柔索驱动并联腰部康复机器人机构创新设计、动态耦合特性分析以及安全控制策略研究。采用柔索并联驱动的结构形式设计了腰部康复机器人的空间构型并进行了尺寸参数优化，开发了柔索驱动并联腰部康复机器人实验样机；采用拉格朗日方法建立了考虑柔索弹性及人体结构的腰部康复机器人动力学模型，开展机器人各子系统及柔性驱动部件的机电热多域耦合动态建模，分析不确定参数和柔性部件影响下的机器人静力学响应；设计了基于模糊PID的双层控制算法，基于反演算法跟踪人体腰部运动轨迹并拟合符合人体运动规律的康复运动曲线，在保障人机安全性的前提下提高了机器人的运动精度；通过动力学实验、双层控制算法精度验证实验以及人机交互实验验证了机器人运动性能以及控制方法的可行性和有效性，为腰部康复机器人综合性能提升和开发应用提供理论依据和技术支撑。