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Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 4, pp. 243—250
DOI: 10.17587/mau.19.243-250
Robots for Restorative Medicine: Problems and Technical Solutions
M. V. Arkhipov, maksim_av@mail.ru, M. Yu. Rachkov, michyur@gmail.com, V. F. Golovin, medicalrobot@mail.ru, Moscow Polytechnic University, Moscow, 107023, Russian Federation, L. B. Kocherevskaya, ladk05@yandex.ru, Moscow Aviation Institute (National Research University), Moscow, 125993, Russian Federation
Corresponding author: Arkhipov Mikhail V., Ph. D., Associate Professor Department of Automation and Control, Moscow Polytechnic University, Moscow, 107023, Russian Federation, e-mail: maksim_av@mail.ru
Accepted on December 10, 2017
The article is devoted to the consideration of theoretical and practical solutions of the problems of the cooperative activity of the manipulation robot for restorative medicine and the human-operator teaching it by the "movement demonstration with soft tissue deforming" method. The possibility of using biomechatronic modules as a means of adapting serially produced manipulation robots to robotic systems for performing a variety of massage physiotherapy is considered. Under the interaction with the environment performed with the manipulation robot, we mean non-invasive, controlled, repeated contact deformation of soft tissue, without changing its shape. To ensure smoothness of efforts in position-force control, the integrator for each link is introduced into the structure of the control system at the stage of computing the joint coordinates. The modified method implements the recording of the parameters of the positional steps from the encoders in the links and the efforts from the two sensors of the assigning handle mounted on the flange of the manipulator. The recording of these parameters is performed in the training mode of the manipulator during movements demonstration. The purpose of modernization consisted in the best quality of position-force control in the mode of reproduction of trained trajectories. Constructive solutions are presented in the form of system structures, methods of processing force information and theoretical justification of problems that are confirmed by experiments. A description of the structural model of control system of the manipulation robot interacting with soft tissue is given. The experimental results were obtained on a real robot based on the six-degree manipulator Puma-560 and they can be transferred to manipulation systems equipped with six-component force sensors.
Keywords: bio-mechatronics, massage, manipulation robot, soft tissues, position-force control, admittance control, training by demonstration, reproduction, force point, force sensor, assign handle, myotonometer
Acknowledgements: This work was supported by the Russian presidential grant ¹ MK-5826.2016.8.
For citation:
Arkhipov M. V., Rachkov M. Yu., Golovin V. F., Kocherevskaya L. B. Robots for Restorative Medicine: Problems and Technical Solutions, Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 4, pp. 243—250.
DOI: 10.17587/mau.19.243-250
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