基于PHANToM的虚拟力反馈控制技术研究1

基于虚拟力反馈的康复训练控制研究

王岚彭晋

（哈尔滨工程大学机电工程学院，黑龙江哈尔滨15001）

摘要：人机交互力控制是康复训练过程的一个重要技术问题，本文基于不带力传感器的PHANToM Omni力反馈装置，研究了虚拟力反馈控制。提出了一种以位置控制作为内环、阻抗控制作为外环的虚拟反馈力算法，分析阻抗

控制对力反馈装置的末端力的控制性能。通过虚拟墙实验和虚拟重力实验，验证了所研究的虚拟力反馈控制算法的可

行性。

Research on Rehabilitation Training Control Based on Virtual

Force Feedback

Wang Lan, Peng Jin

（Harbin Engineering University，School of Mechatronic Engineering，Heilongjiang，Harbin 15001）Abstract：Human-robot interaction force control is an important technology in rehabilitation training. Based on the PHANToM Omni force feedback device, force Sensorless virtual force feedback control is researched in this paper. An kind of

virtual force feedback control algorithm with position inner loop and force impedance outer loop is proposed. The

performance of- PHANToM force tracking is analyzed. Experiment of virtual wall and virtual gravity are done, and from the

experiment result, we can see that the force Sensorless virtual force feedback control algorithm is feasibility.

1.The introduction--

As the aging society coming,the incidence of stroke is on the rise.researchers will apply robot technology in the field of stroke rehabilitation in order to improve the efficiency of rehabilitation training.Europe and the United States, Japan and other advanced countries attaches great importance to it through years of scientific research efforts, many scientific research institutions and medical units have achieved considerable results, even have the transition, such as MIT - around, MIME, ARM - Guide and ARM-in, etc.The domestic study on rehabilitation robot in recent years has just begun, some domestic colleges and universities, such as Tsinghua University, Shanghai Jiaotong University, Harbin Engineering University, Harbin Institute of Technology, has developed a rehabilitation robot prototype is formed, and do a lot of the experimental study.

Human-robot interaction force control is an important technology in rehabilitation training.For patients with hemiplegia, their joints exist muscle tension greatly.If the patients and the robot being not measured the force between them , it is easy to cause patients with secondary damage or lack of training intensity not up to the effect of the rehabilitation treatment. Detection of the interaction of them can provide important parameters for patients with active rehabilitation training,inspiringconfidence patients in rehabilitation at the same time. In most case, manipulator takes advantage of the force / torque sensor to detect force feedback signals.But in some cases, the manipulator doesn’t have force sensor because of the mechanical structure of the restriction or the complexity of the system and other reasons, and the the force and position are controlled at the same time.In the literature [1] the paper describes in more detail the effects of parameters and control characteristics of the impedance control.In the literature[2] it discusses the impedance control based on the robot contact and non-contact environment respectively .In the literature [3] it presents a kind of lower limb gait rehabilitation training method based on impedance control.The literature[4]and literature[5] presents respectively the impedance control scheme to the disturbance to observer and the force estimate based on the robot having the force sensor.In the literature[6] it presents a new method of impedence control based on D-PD in the industrial robot contacting the circumstance.This paper uses PHANToM as the force feedback device studying human-computer interaction force control method in rehabilitation training.

2. The interaction force control scheme

Scheme is shown a the Fic1.in the virtual environment.People hold the PHANToM Omni, the joystick in the virtual environment, after the collision between the operating rod and the object,two force can be calculated respectively lever force as the force people are taken with the