用于机器人辅助康复的、具备阻抗控制与扰动观测器的遥操作系统
A Teleoperation System with Impedance Control and Disturbance Observer for Robot-Assisted Rehabilitation
AI总结：
本文提出一种融合阻抗控制与扰动观测器的双边康复遥操作系统，可实现无传感器柔顺交互、模型不确定性补偿、任务/pHRI切换及示范轨迹复现。
摘要：
肢体运动治疗是一种关键的康复方法，旨在恢复因神经系统疾病或事故而出现运动功能障碍患者的行动能力。此类治疗通常具有患者特异性、重复性强和劳动密集的特点。在传统方法中，治疗师与患者协作开展重复性肢体训练，而上述特点使其十分费力。利用机器人系统辅助治疗师的机器人辅助康复概念已获得广泛关注。然而，构建此类系统面临诸多挑战，例如多样的任务需求、动力学模型中的不确定性以及安全问题。为解决这些问题，本文提出了一种用于康复的双边遥操作系统。该系统的控制方案被设计为阻抗控制与扰动观测器的集成框架：前者无需力传感器即可确保柔顺的人机交互，后者则可在仅有粗略辨识的动力学模型时补偿动力学不确定性。此外，该方案允许在跟踪任务与物理人机交互（pHRI）之间自由切换。所提出的系统能够执行大量具有不同模式的预定义轨迹，以适应多样化需求。而且，该系统可以采集治疗师的示范，并根据需要任意多次复现。实验对该遥操作系统的有效性进行了评估并予以证明。
英文摘要：
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific, repetitive, and labor-intensive. The conventional method, where therapists collaborate with patients to conduct repetitive physical training, proves strenuous due to these characteristics. The concept of robot-assisted rehabilitation, assisting therapists with robotic systems, has gained substantial popularity. However, building such systems presents challenges, such as diverse task demands, uncertainties in dynamic models, and safety issues. To address these concerns, in this paper, we proposed a bilateral teleoperation system for rehabilitation. The control scheme of the system is designed as an integrated framework of impedance control and disturbance observer where the former can ensure compliant human-robot interaction without the need for force sensors while the latter can compensate for dynamic uncertainties when only a roughly identified dynamic model is available. Furthermore, the scheme allows free switching between tracking tasks and physical human-robot interaction (pHRI). The presented system can execute a wide array of pre-defined trajectories with varying patterns, adaptable to diverse needs. Moreover, the system can capture therapists' demonstrations, replaying them as many times as necessary. The effectiveness of the teleoperation system is experimentally evaluated and demonstrated.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
