一种下肢康复机器人机构及匀速训练方法的研究
|
摘要
针对下肢具有功能障碍的偏瘫或残疾患者,文章研制了基于五杆并联机构的新型坐式下肢康复机器人,建立了患者下肢与康复训练机构的人-机参数化模型,并利用闭环矢量法对模型进行运动学正、逆分析,推导出其运动学方程。根据运动学分析并利用Matlab进行编程,分段拟合得到匀速训练下曲柄角速度与时间的函数,并在Pro/E软件中进行验证,仿真数据表明该函数和运动学分析结果是正确的。
A new model for sitting lower limbs rehabilitation robot was developed based on the new five-bar parallel mechanism,aiming at hemiplegia or disabled patients with lower extremity dysfunction.The man-machine parametric model was established in patients with lower limb and rehabilitation training institutions.The direct and inverse kinematics of the model was analyzed using the closed-loop vector method and the kinematics equation was deduced.Through the kinematics analysis and the programming using Matlab software,a function of the crank angular velocity and time was obtained by segmented fitting,and it was verified by Pro/E software.The simulation result indicates that the function and kinematics analysis are correct.
A new model for sitting lower limbs rehabilitation robot was developed based on the new five-bar parallel mechanism,aiming at hemiplegia or disabled patients with lower extremity dysfunction.The man-machine parametric model was established in patients with lower limb and rehabilitation training institutions.The direct and inverse kinematics of the model was analyzed using the closed-loop vector method and the kinematics equation was deduced.Through the kinematics analysis and the programming using Matlab software,a function of the crank angular velocity and time was obtained by segmented fitting,and it was verified by Pro/E software.The simulation result indicates that the function and kinematics analysis are correct.
引文
[1]Jeffrey A W,Sivakumar B,Thomas S.Bobotic gait trainer reliability and stroker patient case study[C]//10th International Conference on Rehabilitation Robotics,2007:554-561.
[2]吕广明,孙立宁,彭龙刚.康复机器人技术发展现状及关键技术分析[J].哈尔滨工业大学学报,2004,36(9):1224-1227.
[3]Senanayake C.Emerging robotics devices for therapeutic rehabilitation of the lower extremity[C]//IEEE International Conference on Advanced Intelligent Mechatronics,2009:1142-1147.
[4]Simon A M,Gillespie R B,Ferris D P.Symmetry-based resistance as a novel means of lower limb rehabilitation[J].Journal of Biomechanics,2007,40(6):1286-1292.
[5]张立勋.卧式下肢康复机器人运动学分析及仿真[J].系统仿真学报,2010,22(8):2001-2005.
[6]朱建瓴,刘成良.人体下肢康复机构设计及运动学仿真[J].计算机仿真,2007,24(3):145-148.
[7]王勇,张英,刘正士,等.下肢康复机器人的设计与仿真分析[J].华中科技大学学报:自然科学版,2011,39(Z2):252-254.
[8]吴毅,杨晓冰,李云霞,等.等速肌力训练促进膝关节术后肌力恢复的研究[J].中国康复医学杂志,1994,9(5):193-197.
[9]于红英,唐德威.平面二自由度全铰链五杆机构轨迹机构综合方法的研究[J].机械科学与技术,2006,25(7):852-855.
[10]朱序璋.人机工程学[M].西安:西安电子科技大学出版社,1999:13-20.
[2]吕广明,孙立宁,彭龙刚.康复机器人技术发展现状及关键技术分析[J].哈尔滨工业大学学报,2004,36(9):1224-1227.
[3]Senanayake C.Emerging robotics devices for therapeutic rehabilitation of the lower extremity[C]//IEEE International Conference on Advanced Intelligent Mechatronics,2009:1142-1147.
[4]Simon A M,Gillespie R B,Ferris D P.Symmetry-based resistance as a novel means of lower limb rehabilitation[J].Journal of Biomechanics,2007,40(6):1286-1292.
[5]张立勋.卧式下肢康复机器人运动学分析及仿真[J].系统仿真学报,2010,22(8):2001-2005.
[6]朱建瓴,刘成良.人体下肢康复机构设计及运动学仿真[J].计算机仿真,2007,24(3):145-148.
[7]王勇,张英,刘正士,等.下肢康复机器人的设计与仿真分析[J].华中科技大学学报:自然科学版,2011,39(Z2):252-254.
[8]吴毅,杨晓冰,李云霞,等.等速肌力训练促进膝关节术后肌力恢复的研究[J].中国康复医学杂志,1994,9(5):193-197.
[9]于红英,唐德威.平面二自由度全铰链五杆机构轨迹机构综合方法的研究[J].机械科学与技术,2006,25(7):852-855.
[10]朱序璋.人机工程学[M].西安:西安电子科技大学出版社,1999:13-20.