对类似由人操作进行上下移动的医疗设备,采用辅助的力传感器手柄改进操作方式。提出了基于阻抗模型的人手控制期望计算方法。该方法根据设备的运行状态以及交互力大小估计人的控制意图,并对控制意图进行卡尔曼滤波,以期望减少噪声和避免系统震荡。控制系统以控制期望作为控制量,根据设备的运行速度切换速度控制模式或者位置控制模式。实验证明控制方法能够达到节省人力的目的,并具有较好的控制精度。 For medical devices that move up and down like human operators, an improved force sensor handle improves operation. Proposed a method based on the impedance model of human control expectations calculation. The method estimates the intention of human control according to the operating status of the equipment and the magnitude of interaction, and carries out Kalman filtering on the control intention so as to reduce noise and avoid system turbulence. The control system switches the speed control mode or the position control mode according to the operation speed of the device in order to control the desired amount of control. Experiments show that the control method can achieve the purpose of saving manpower and has better control precision.