Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism

Xing Jiyuan; Xu Jilong; Liu Fucai

doi:10.16578/j.issn.1004.2539.2024.06.007

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Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism

Design· Calculation | 更新时间：2024-06-19

- Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism
- Journal of Mechanical Transmission Vol. 48, Issue 6, Pages: 41-49(2024)
- 作者机构：
  
  燕山大学工业计算机控制工程河北省重点实验室，河北秦皇岛 066004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.06.007
  CLC：
- Published：15 June 2024，
  
  Received：22 March 2023，
  
  Revised：05 May 2023，
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邢济湲,徐继龙,刘福才.一种新型弱耦合并联髋关节康复机构设计及运动控制[J].机械传动,2024,48(06):41-49.

Xing Jiyuan,Xu Jilong,Liu Fucai.Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism[J].Journal of Mechanical Transmission,2024,48(06):41-49.
邢济湲,徐继龙,刘福才.一种新型弱耦合并联髋关节康复机构设计及运动控制[J].机械传动,2024,48(06):41-49. DOI： 10.16578/j.issn.1004.2539.2024.06.007.

Xing Jiyuan,Xu Jilong,Liu Fucai.Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism[J].Journal of Mechanical Transmission,2024,48(06):41-49. DOI： 10.16578/j.issn.1004.2539.2024.06.007.

摘要

针对髋关节功能障碍人群，提出了一种新型弱耦合并联髋关节康复机构，该机构与人体下肢组成封闭运动链，使其具有3个转动自由度，且其转动中心与人体髋关节中心重合，可满足髋关节康复运动需求。采用封闭矢量法建立了人-机逆运动学模型；采用数值法建立了人-机正运动学模型；基于模糊控制理论，设计了模糊自适应比例-微分（Proportional-Derivative，PD）控制器，利用跟踪误差及其导数构建控制律，采用模糊算法进行控制参数在线自适应调整。仿真和实验结果表明，设计的模糊自适应PD控制器响应速度快且跟踪效果良好。

Abstract

Aiming at the people with hip joint dysfunction

a novel weak-coupling parallel hip-joint rehabilitation mechanism is proposed. The mechanism and human lower limbs form a closed motion chain

so that it has three rotational degrees of freedom

and its rotation center coincides with the human hip joint center

which can meet the need of hip-joint rehabilitation. The human-machine inverse kinematics model is established using the closed loop vector method. The human-machine forward kinematics model is established using the numerical method. The fuzzy adaptive proportional-derivative (PD) controller is designed based on the fuzzy control theory. The control law is constructed using the tracking error and its derivative. The parameters of controllers are adaptively adjusted online using the fuzzy algorithm. The simulation and experiment results show that the fuzzy adaptive PD controller has fast response speed and good tracking effect.

关键词

并联机构弱耦合髋关节康复轨迹跟踪模糊自适应

Keywords

Parallel mechanismWeak-couplingHip-joint rehabilitationTrajectory trackingFuzzy adaptive

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