طراحی یک ربات کابلی برای توانبخشی اندام‌های تحتانی با استفاده از روش کنترل امپدانس

رضوانی, فرهاد; محمدی دانیالی, حمیدرضا; جوانشیر, خدابخش

doi:10.48301/kssa.2025.476145.2978

طراحی یک ربات کابلی برای توانبخشی اندام‌های تحتانی با استفاده از روش کنترل امپدانس

نوع مقاله : مقاله پژوهشی (کاربردی)

نویسندگان

فرهاد رضوانی ¹

حمیدرضا محمدی دانیالی ¹

خدابخش جوانشیر ²

¹ گروه مهندسی مکانیک، دانشگاه صنعتی نوشیروانی بابل، بابل، ایران

² گروه فیزیوتراپی، دانشگاه علوم پزشکب بابل، بابل، ایران

10.48301/kssa.2025.476145.2978

چکیده

در این مقاله، موضوع کنترل حرکت صفحه‌ای ربات کابلی به منظور توانبخشی اندام‌های تحتانی بدن در راستای تقویت ماهیچه‌های بیمار بررسی شده است. ربات کابلی ارائه‌شده دارای دو درجه آزادی و شامل چهار کابل می‌باشد. نخست مدل حرکت اندام‌های تحتانی در صفحه ساجیتال استخراج شده است. سیستم دینامیکی استخراج‌شده چند-ورودی چند-خروجی و دارای رفتار غیرخطی است. استخراج الگوریتم کنترلی مرتبط با سیستم یادشده به منظور کنترل همزمان زوایای مفاصل و گشتاورهای اعمال‌شده به آنها یکی از چالش‌های این مطالعه بوده است. برای این منظور از رویکرد کنترل امپدانس برای طراحی الگوریتم کنترلی که بتواند اهداف مورد نظر را برآورده کند، استفاده شده است. یکی دیگر از چالش‌های این پژوهش، تفکیک گشتاورهای اعمال‌شده از سوی بیمار به مفاصل از گشتاورهای ذاتی مفاصل است. در این راستا یک روش تخمین برای غلبه بر این چالش ارائه شده است. نتایج شبیه‌سازی نشان می‌دهد که الگوریتم کنترلی ارائه‌شده می‌تواند اهداف مورد بررسی در این پژوهش را برآورده ساخته و ربات طراحی‌شده ضمن مخالفت با حرکت بیمار در 7/99 درصد بازه زمانی حرکتی، به تقویت ماهیچه‌های او کمک می‌کند.

کلیدواژه‌ها

ربات کابلی

توانبخشی

اندام های تحتانی

صفحه ساجیتال

چند-ورودی چند-خروجی

کنترل امپدانس

موضوعات

دینامیک، کنترل، ارتعاشات

عنوان مقاله English

Design a cable robot for lower limb rehabilitation using impedance control approach

نویسندگان English

Farhad Rezvani ¹

Hamid reza Mohammadi Daniali ¹

khodabakhsh Javanshir ²

¹ Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran

² Department of Physiotherapy, Babol University of Medical Sciences, Babol, Iran

چکیده English

This article discusses the control of the planar motion of a cable robot designed for the rehabilitation of lower limbs to strengthen weakened muscles. The proposed cable robot has two degrees of freedom and consists of four cables. First, the motion model of the lower limbs in the sagittal plane is derived. The extracted dynamic system is multi-input multi-output with nonlinear behavior. One of the challenges of this study was to derive a control algorithm for the aforementioned system to simultaneously control the joint angles and the torques applied to them. For this purpose, the impedance control approach was used to design a control algorithm that meets the desired objectives. Another challenge of this research was to distinguish between the torques applied to the joints by the patient and the innate torques of the joints. A method for estimation was proposed to overcome this challenge. Simulation results show that the proposed control algorithm can achieve the objectives examined in this study. The designed robot helps to strengthen the patient's muscles by opposing the patient's movement in 99.7% of the movement period.

کلیدواژه‌ها English

Keyword: cable robot

rehabilitation

lower limbs

sagittal plane

multi-input multi-output

impedance control

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