一种用于基于末端执行器的机器人康复平台的新型无缝磁驱动机构
A novel seamless magnetic-based actuating mechanism for end-effector-based robotic rehabilitation platforms
AI总结：
针对上肢康复机器人存在的人机交互不畅、成本高、重力补偿与跟踪难等问题，本研究提出新型磁驱动机构，结合EKF与控制器实现稳定跟踪，用户评价良好，推动了该领域技术发展。
摘要：
康复机器人技术仍面临诸多重大挑战，尤其是在上肢运动训练中实现平滑、安全且直观的人机交互方面。当前许多系统依赖复杂的机械设计、直接物理接触和多个传感器，这不仅抬高了成本，还降低了可及性。此外，实现无缝的重力补偿和精确的运动跟踪仍是一项极具复杂度的任务。为克服这些障碍，我们研发了一种用于末端执行器式机器人康复的新型磁驱动机构。这一创新方案可实现平滑的非接触力传递，显著提升患者在上肢训练过程中的安全性与舒适度。为确保性能稳定，我们将扩展卡尔曼滤波器（Extended Kalman Filter，EKF）与控制器集成，用于实时位置跟踪，使系统即便在传感器故障或失效的情况下也能保持高精度或恢复正常运行。在一项包含12名参与者的用户研究中，75%的参与者对系统的平滑性给予高度评价，66.7%的参与者称赞其安全性及有效的重力补偿效果。EKF展现出精确的跟踪性能，均方根误差（root mean square error，RMSE）值保持在可接受范围内（低于2厘米）。通过将磁驱动与先进的闭环控制算法相结合，该系统在上肢康复机器人领域实现了重大进展。
英文摘要：
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs, direct physical contact, and multiple sensors, which not only elevate costs but also reduce accessibility. Additionally, delivering seamless weight compensation and precise motion tracking remains a highly complex undertaking. To overcome these obstacles, we have developed a novel magnetic-based actuation mechanism for end-effector robotic rehabilitation. This innovative approach enables smooth, non-contact force transmission, significantly enhancing patient safety and comfort during upper limb training. To ensure consistent performance, we integrated an Extended Kalman Filter (EKF) alongside a controller for real-time position tracking, allowing the system to maintain high accuracy or recover even in the event of sensor malfunction or failure. In a user study with 12 participants, 75% rated the system highly for its smoothness, while 66.7% commended its safety and effective weight compensation. The EKF demonstrated precise tracking performance, with root mean square error (RMSE) values remaining within acceptable limits (under 2 cm). By combining magnetic actuation with advanced closed-loop control algorithms, this system marks a significant advancement in the field of upper limb rehabilitation robotics.
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