Adaptive Assist-as-needed Upper Limb Mirror Control Strategy
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摘要: 为了提高偏瘫患者在镜像康复训练过程中的主动性与系统抗干扰性，该文提出一种基于自适应按需辅助的上肢镜像控制策略。该策略主要包括镜像控制和自适应按需辅助控制两个模块，镜像模块采集健侧位置解算出患侧期望位置，与患侧实际位置比较得到位置偏差；按需辅助模块结合传统阻抗控制和一种患肢运动状态评估方法，自动实时调节对患肢的辅助力大小，以实现患肢主动力矩的最大化。该文设计了两项实验，分别验证本策略对患者主动性和系统抗干扰性的提升效果，实验结果表明，对于镜像康复训练系统使用所提方法有效减小了56.9%的平均辅助力，患肢跟随健肢的位置精度为5.6%，能有效补偿89%的干扰外力。因此所提方法有效提升了训练者的主动性，同时具有良好的抗干扰性，满足镜像康复训练的要求。Abstract: In order to improve the initiative of hemiplegic patients and system anti-interference in the mirror rehabilitation training process, an upper limb mirror control strategy based on adaptive assist-as-needed is proposed. The strategy includes mainly two modules: mirror control and adaptive assist-as-needed control. The mirror module collects the position of the healthy side to calculate the desired position of the affected side, and compares it with the actual position of the affected side to obtain the position deviation; The adaptive assist-as-needed module combines thetraditional impedance control and the method for evaluating the movement state of the affected limb, automatically adjusts the auxiliary force to the affected limb in real time to maximize the active torque of the affected limb. Two experiments are designed to verify the effect of this strategy on patient initiative and system anti-interference. The experimental results show that the use of the proposed method for the mirror rehabilitation training system reduces effectively the average auxiliary force by 56.9%, and the position accuracy of the affected limb that follows the healthy limb is 5.6%, and the proposed method can effectively compensate 89% of the interfering external force. Therefore, the method improves effectively the initiative of the trainer, and at the same time has good anti-interference, and meets the requirements of mirror rehabilitation training.
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表 1 实验方案
实验者 采用方法 实验条件 实验目的 实验次数 实验1 A/B/C/D 传统方法/本文方法 分别模拟2类不同患肢状态 比较两种方法控制性能 6 实验2 B/D 传统方法/本文方法 持续1s的10N外力干扰 比较两种方法抗干扰性能 6 
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表 2 患肢主动性验证实验结果
受试者 患肢状态 采用方法 平均辅助力(N) 辅助力降低率(%) 平均跟随误差(mm) 位置精度(%) A/C $ {\rm{SFR}} > 0.7,{\rm{TOR}} > 0.7 $
$ {\rm{SFR}} > 0.7,{\rm{TOR}} > 0.7 $传统方法 7.8 56.9 44.3 11.1 本文方法 4.9 27.5 6.9 B/D $ {\rm{SFR}} < 0.3,{\rm{TOR}} < 0.3 $ 传统方法 6.4 28.8 7.1 $ {\rm{SFR}} < 0.3,{\rm{TOR}} < 0.3 $ 本文方法 1.5 17.4 4.3
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表 3 系统抗干扰性验证实验结果
患肢状态 采用方法 干扰外力(N) 辅助力变化(N) 辅助力补偿率(%) 平均跟随误差(mm) 误差增加率(%) ${\rm{SFR}} < 0.3,{\rm{TOR}} < 0.3$ 传统方法 10 0.4 4 40.3 39.9 ${\rm{SFR}} < 0.3,{\rm{TOR}}< 0.3$ 本文方法 10 –8.9 89 18.6 6.5
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