摘要
针对缺少在社区与家庭中使用的康复机器人的现状,提出一种新型下肢康复机器人设计方案.首先,根据患者康复训练需求完成了机器人的机构设计,建立了机器人的三维模型并介绍了其具体结构;其次,在矢状面内建立人-机模型并对机构进行运动学分析,对精确实现踝关节规划轨迹的控制规律进行了仿真分析;最后,基于样机进行了多位姿试验.试验结果表明:机器人能够实现"坐-卧-站"多位姿康复训练,该机器人设计方案具有可行性,能够为不同康复期的下肢偏瘫患者提供针对性的康复训练轨迹,有助于偏瘫患者康复训练.
Nowadays,the rehabilitation robots applied in the community and family are limited. In this work,a new type of lower limb rehabilitation was developed.Firstly,the mechanism of the robot was designed according to the require of rehabilitation training,and the three-dimensional model of the robot was built and introduced in detail.Secondly,the human-machine model in the vertical plane was established.The kinematics were analyzed.Thirdly,the control law of accurately realizing the planning trajectory of ankle joint was simulated and analyzed.Lastly,the multiple poses experiment of the prototype was presented.The experimental results show that the lower limb robot can be used to accomplish the training of the sit-lie-stand multiple poses.The scheme of the lower limb robot is feasible and it can provide the individual training trajectory for the lower limb function of hemiplegic stroke patients under different stages,which is conductive to the training of hemiplegic stroke patients.
作者
王勇
梁启松
姜礼杰
任刚跃
Wang Yong;Liang Qisong;Jiang Lijie;Ren Gangyue(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;China Railway Engineering Equipment Group Co.Ltd.,Zhengzhou 450016,China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2018年第12期13-17,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
科技部中小企业创新基金资助项目(11C26213402042)
关键词
下肢康复机器人
偏瘫患者
机构设计
机构分析
仿真分析与试验
lower-limb rehabilitation robot
hemiplegic patients
mechanism design
mechanism analysis
simulation analysis and experiment
