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工程设计学报
工程设计学报  2019, Vol. 26 Issue (3): 252-259    DOI: 10.3785/j.issn.1006-754X.2019.03.002
创新设计     
步态康复训练机器人人机交互信息感知系统
郭冰菁1,2, 毛永飞1, 韩建海1,2,3, 李向攀1,2, 马金琦1
1.河南科技大学 机电工程学院， 河南 洛阳 471003
2.河南省机器人与智能系统重点实验室， 河南 洛阳 471003
3.机械装备先进制造河南省协同创新中心， 河南 洛阳 471003
Human-robot interactive information sensing system for gait rehabilitation training robot
GUO Bing-jing1,2, MAO Yong-fei1, HAN Jian-hai1,2,3, LI Xiang-pan1,2, MA Jin-qi1
1.School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China
2.Henan Provincial Key Laboratory of Robotics and Intelligent Systems, Luoyang 471003, China
3.Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003, China
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摘要：

针对步态康复训练机器人与患者实时交互的需求，研发了获取人机接触力信息的感知系统。利用拉格朗日法建立包含人体主动力的下肢外骨骼机器人动力学模型，并分析患者下肢运动动作意图，为步态康复训练交互控制提供判断依据。在步态康复训练机器人样机系统上进行了静态、动态测量实验及被动/主动康复训练测量实验，结果表明该感知系统能够满足人机接触力的检测精度要求，能在康复训练中获取人体运动意图，这为步态康复训练机器人的智能交互控制策略研究奠定了基础。
关键词： 步态康复训练;  外骨骼机器人;  人机交互;  人机接触力;  感知系统    
Abstract:

Aiming at the requirements of real-time interaction between the gait rehabilitation training robot and the patient，a sensing system for the contact force between them was developed. The lower limb exoskeleton robot dynamics model including the active force of human was established by Lagrange method，and the patient's lower limb movement intentions were analyzed to provide judgment criterions for the interactive control in gait rehabilitation training. The static and dynamic measurement experiments and the passive/active rehabilitation training measurement experiments were carried out on the gait rehabilitation training robot prototype system. The results showed that the sensing system could satisfy the detecting accuracy requirements for human-robot contact force, and acquire human movement intention in the rehabilitation training. The design of the human-robot interactive information sensing system lays a foundation for the research on the intelligent interactive control strategy of gait rehabilitation training robot.
Key words: gait rehabilitation training    exoskeleton robot    human-robot interaction    human-robot contact force    sensing system
收稿日期: 2018-08-24 出版日期: 2019-06-28
CLC:  TP 242.6  
基金资助:

河南省科技攻关计划资助项目（172102210036）
作者简介: 郭冰菁(1973—)，女，江苏南京人，副教授，硕士，从事机电控制技术、机器人研究，E-mail:bingjing@haust.edu.cn，https://orcid.org/0000-0002-8591-8034
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引用本文:

郭冰菁, 毛永飞, 韩建海, 李向攀, 马金琦. 步态康复训练机器人人机交互信息感知系统[J]. 工程设计学报, 2019, 26(3): 252-259.

GUO Bing-jing, MAO Yong-fei, HAN Jian-hai, LI Xiang-pan, MA Jin-qi. Human-robot interactive information sensing system for gait rehabilitation training robot. Chinese Journal of Engineering Design, 2019, 26(3): 252-259.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2019.03.002    或    https://www.zjujournals.com/gcsjxb/CN/Y2019/V26/I3/252

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