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Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

IEEE ACCESS 2023年 11卷 144617-144630页

作者： Xia, Lizhen Henan Tech Inst Dept Informat Engn Zhengzhou 450042 Peoples R China

With the aging global population, there are more patients with hemiplegia caused by stroke. The demand for rehabilitation robots to assist rehabilitation therapists is also increasing. To solve the above problems, a reasonable trajectory planning of the rehabilitation robot joints is constructed to achieve rehabilitation assistance, improve safety and ***, a Kinematics model is constructed, and B-spline is applied to realize the trajectory planning of the rehabilitation robot. By introducing crow search algorithm and multiple crow search algorithms, the energy impact multi-objective optimization for the upper limb movement of the rehabilitation robot is carried out. Relevant experiments are designed to compare and verify the optimization effects of the algorithms. From the results, by optimizing the crow search algorithm, only 25.36% and 34.20% of the impact and energy are used. The average impact size per unit of time decreases by 74.68%. The energy consumption per unit time decreases by 65.39%.After optimizing the crow search algorithm, the impact and energy per unit time are only 14.41% and 17.25%, respectively. The energy per unit time decreases by 74.53%, and the impact decreases by 82.97%. Compared with other algorithms, the space complexity of the improved method is very small, and the standard deviation is 0.03. The optimization algorithm performs well in trajectory planning optimization. It is of great significance in the trajectory planning and rehabilitation role of rehabilitation robots.

关键词： Trajectory planning crow search algorithm rehabilitation robots multi objective optimization multiple group methods

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