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最近几年,康复机器人技术随着科学技术的发展及现实需求应运而生,这可以说是机器人技术在医疗康复行业的最新运用。然而,我国对于医疗康复领域中气动人工肌肉运用的相关研究依然处在最初的层面上,为此,需将气动助力机械腿作为基本的研究目标,对气动助力机械腿伺服控制开展深入地探究,进而促使人在行走过程中的损耗量,使得下肢的机体得到明显地好转、直至恢复正常。本文首先对气动肌肉驱动关节及人体步态问题进行分析,利用d SPACE实时仿真系统进行了气动助力机械腿的相关控制,同时对最终的控制参数作出科学性的调整,最终达到了对气动助力机械腿伺服控制的最终目的。
In recent years, the technology of rehabilitation robot came into being with the development of science and technology and the actual demand, which can be said to be the latest application of robotics in the medical rehabilitation industry. However, the related researches on aerodynamic muscle utilization in the field of medical rehabilitation are still at the initial level in our country. To this end, the aerodynamic assistance mechanical leg needs to be the basic research goal, and the aerodynamic assistance mechanical leg servo control should be explored in depth. Thereby contributing to the loss of people in the process of walking, making the body of the lower limbs significantly improved until it returned to normal. In this paper, the aerodynamic muscle-driven joints and human gait problems are analyzed. The dSPACE real-time simulation system is used to control the pneumatic assistant mechanical legs, and the final control parameters are adjusted scientifically. Finally, The ultimate purpose of leg servo control.