并联气动减重步行助力机器人的开发与研究
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摘要
我国正快速步入老龄化社会,亟需开发新型的面向老年人的步行助力装置。对于因下肢骨关节炎而导致的行走困难这一老年人的常见病,减重步行助力被证明是一个行之有效的医疗康复手段。然而目前市场上还没有商品化的减重步行助力的机器,国内外对这方面的研究也还不太成熟,因此开展对新型减重步行助力机器的开发和研究具有十分重要的意义。
本文针对因下肢骨关节炎而导致行走困难的患者,提出了并联气动减重步行助力机器人的设计构想,并开发设计了适用于单腿患病情况的减重步行助力机器人试验样机和生物力学测力平台。试验样机采用环绕腿布置的带有气缸的并联机构,为患者提供步行助力。在控制上,由研制的鞋底体重传感器测量患者的脚底接地反力,并将脚底接地反力信号由数据采集卡采集至控制计算机,再由计算机生成气缸控制指令,连续控制并联机构中气缸的输出力,从而达到按设定比例减重步行助力的目的。试验样机的并联机构能为患者提供足够的支撑力,而且具有保持患者行走步态平衡的功能。为了测量行走步幅和评定减重步行助力的效果,还研制了生物力学测力平台,以测量平台上承受的力的大小和作用位置。
本文介绍了应用开发的试验样机和生物力学测力平台,进行的步行助力试验。详细地介绍了试验的构成和试验结果。在试验中,采用了数据采集卡和Matlab中的RealtimeWindows Target工具箱进行实时数据采集和实时控制。进行了减重50%体重和80%体重的真人步行助力实验,并对试验数据进行了分析。试验结果证明了设计思想的合理性和减重步行助力的有效性。另外还验证了气动并联机构在增强行走步态平衡时的有效性。
Our country is aging rapidly there is an urgent need for the development of new devices to help the elder's walking. Osteoarthritis of Lower limb which makes difficulties in walking is a common disease for the elder, weight bearing walking assist was proved an effective method of medical rehabilitation. Domestic and international researches in this area are not mature yet, thus the development of new types of weight bearing waling assist machine is very important.
In this paper, for those patients who feels difficulties in walking caused by osteoarthritis of lower limb, a design concept of a parallel pneumatic weight bearing walking assist robot is proposed, a prototype of weight bearing walking assist robot for single ill leg and a biomechanics force platform are developed. Experimental prototype has the parallel mechanism with cylinders around the leg to provide the assist force for patients walking. In the control systems, a sole bodyweight sensor is developed to measure the foot ground reaction force, the ground reaction force signals collected by a data acquisition card is send to the computer, the computer generate the instructions for the cylinder pressure control, and the output force from the cylinder is controlled to achieve the proportional body weight bearing walking assist. Experimental prototype of parallel mechanism can provide sufficient assisting force for patients, and also has the function of maintaining gait balance during walking. In order to measure walking pace and the effect of walking assisting, a biomechanical measuring platform is also developed to measure the foot force and the position of the foot force.
Using the developed prototype robot and the biomechanical measuring platform, experiments of walking assist is done. The construction and the experimental results presented in details. In the experiments, a data acquisition card is used and the Realtime Windows Target toolbox in the Matlab is also used for real-time data acquisition and real-time control. The experiment of weight bearing of 50% and 80% bodyweight is done by a person, and the test data is analyzed. The experimental results prove that the concept of design is rational and the body weight bearing walking assist is effective. The experimental results also prove the effectiveness of the prototype robot in increasing the stability of the gait balance during walking.
本文针对因下肢骨关节炎而导致行走困难的患者,提出了并联气动减重步行助力机器人的设计构想,并开发设计了适用于单腿患病情况的减重步行助力机器人试验样机和生物力学测力平台。试验样机采用环绕腿布置的带有气缸的并联机构,为患者提供步行助力。在控制上,由研制的鞋底体重传感器测量患者的脚底接地反力,并将脚底接地反力信号由数据采集卡采集至控制计算机,再由计算机生成气缸控制指令,连续控制并联机构中气缸的输出力,从而达到按设定比例减重步行助力的目的。试验样机的并联机构能为患者提供足够的支撑力,而且具有保持患者行走步态平衡的功能。为了测量行走步幅和评定减重步行助力的效果,还研制了生物力学测力平台,以测量平台上承受的力的大小和作用位置。
本文介绍了应用开发的试验样机和生物力学测力平台,进行的步行助力试验。详细地介绍了试验的构成和试验结果。在试验中,采用了数据采集卡和Matlab中的RealtimeWindows Target工具箱进行实时数据采集和实时控制。进行了减重50%体重和80%体重的真人步行助力实验,并对试验数据进行了分析。试验结果证明了设计思想的合理性和减重步行助力的有效性。另外还验证了气动并联机构在增强行走步态平衡时的有效性。
Our country is aging rapidly there is an urgent need for the development of new devices to help the elder's walking. Osteoarthritis of Lower limb which makes difficulties in walking is a common disease for the elder, weight bearing walking assist was proved an effective method of medical rehabilitation. Domestic and international researches in this area are not mature yet, thus the development of new types of weight bearing waling assist machine is very important.
In this paper, for those patients who feels difficulties in walking caused by osteoarthritis of lower limb, a design concept of a parallel pneumatic weight bearing walking assist robot is proposed, a prototype of weight bearing walking assist robot for single ill leg and a biomechanics force platform are developed. Experimental prototype has the parallel mechanism with cylinders around the leg to provide the assist force for patients walking. In the control systems, a sole bodyweight sensor is developed to measure the foot ground reaction force, the ground reaction force signals collected by a data acquisition card is send to the computer, the computer generate the instructions for the cylinder pressure control, and the output force from the cylinder is controlled to achieve the proportional body weight bearing walking assist. Experimental prototype of parallel mechanism can provide sufficient assisting force for patients, and also has the function of maintaining gait balance during walking. In order to measure walking pace and the effect of walking assisting, a biomechanical measuring platform is also developed to measure the foot force and the position of the foot force.
Using the developed prototype robot and the biomechanical measuring platform, experiments of walking assist is done. The construction and the experimental results presented in details. In the experiments, a data acquisition card is used and the Realtime Windows Target toolbox in the Matlab is also used for real-time data acquisition and real-time control. The experiment of weight bearing of 50% and 80% bodyweight is done by a person, and the test data is analyzed. The experimental results prove that the concept of design is rational and the body weight bearing walking assist is effective. The experimental results also prove the effectiveness of the prototype robot in increasing the stability of the gait balance during walking.
引文
[1]蔡敏,饶克勤.3次国家卫生服务调查居民主要疾病患病情况变化与分析,中国医院统计2005.6 12卷2期.
[2]杜志江,孙传杰.康复机器人研究现状,中国康复医学杂志2003年第18卷第5期293-294.
[3]阮晓钢,仇忠臣.双足行走机器人发展现状及展望,专题论坛 2007.02 03-0017.
[4]杨辉,章亚男.下肢康复机器人减重支撑系统的研究,机电工程2009.7 26卷7期.
[5]夏昊昕,张立勋.下肢康复训练机器人,应用科技2004.2 31卷2期.
[6]张立勋,赵凌燕.下肢康复训练机器人的压力中心轨迹控制研究,应用科技2008.12 35卷12期.
[7]Yusuke Sugahara,Yutaka Mikuriya.Walking Control Method of Biped Locomotors on Inclined Plane,Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona,Spain,April 2005 1977-1982.
[8]Yusuke Sugahara,Akihiro Ohta.Walking Up and Down Stairs Carrying a Human by a Biped Locomotor with Parallel Mechanism.
[9]Yusuke SUGAHAIL,Masamiki KAWASE.Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism,Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems September 28 -October 2,2004,Sendai,Japan 3213-3218.
[10]Yusuke SUGAHARA.Realization of Dynamic Human-Carrying Walking by a Biped Locomotor,Proceedings ofthe 2000 IEEE Intsmatlonal Conference on RobOtlca 6 Automation New Orleans,LA.Aril 2004 3055-3060.
[11]Yu Ogura,Teruo Kataoka.A Novel Method of Biped Walking Pattern Generation with Predetermined Knee Joint Motion,Procwdings of 2004 IEEEIRSJ International Conference on Intelligent Robots and Systems September 28 -October 2,2004,Sendai,Japan 2831-2836.
[12]Yusuke Sugahara.Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control,Proceedings of the 2003 IEEE/RSJ InL,Las Vegas,Nevada.October 2003 595-600.
[13]H.Kazerooni.That Which Does Not Stabilize,Will Only Make Us Stronger,The Internation Journal of Robotics Research Yol.26 No.1,Januar2007,75-89.
[14]Joon-young Kim.Optimal Combination of Minimum Degrees of Freedom to be Actuated in the Lower Limbs to Facilitate Arm-Free Paraplegic Standing,ASME December 2007 838-847.
[15]H.Ikeuchi,K.Ohnishi.A Gait Training System for Human Adaptive Walking Posture,2005 IEEE International Workshop on Robots and Human Interactive Communication 605-610.
[16]Darwin G.Caldwell.Investigation of Bipedal Robot Locomotion using Pneumatic Muscle Actuators Proceedings of the 1997 IEEE International Conference on Robotics and Automation Albuquerque,New Mexico-April 1997 799-804.
[17]AaronM Dollar.Lower Extremity Exoskeletons and Active Orthoses:Challenges and State-of-the-Art,IEEE Transactions on Robotics,VOL.24,NO.1,FEBRUARY 2008 1552-1568.
[18]蔡兆云,肖湘江.外骨骼机器人技术研究综述,国防科技 2007.12 6-8.
[19]杜志江,孙传杰.康复机器人研究现状,中国康复医学杂志2003年第18卷第5期293-294.
[20]吴宝元,余永.可穿戴式下肢助力机器人运动学分析与仿真,机械科学与技术 2007.2第26卷第2期26-32.
[21]潘敏强,张铁.行走机器人控制策略研究,机床与液压 2003.No.6 335-338.
[22]Honda Motor Co.Ltd Honda Unveils Experimental Walking Assist Device With Bodyweight Support System.
[23]Katsuya KANAOKA,Power Pedal as a Man-Machine Synergy Effector—Bipedal Walking with Human Skill and Robot Power,2008 IEEE International Conference on Robotics and Automation Pasadena,CA,USA,May 19-23,2008 1779-1980.
[24]Haifan WU,Development of a Novel Pneumatic Power Assisted Lower Limb for Outdoor Walking by the Use of a Portable Pneumatic Power Source,16th IEEE International Conference on Control Applications Part of IEEE Multi-conference on Systems and Control Singapore,1-3 October 20071291-1296.
[25]蔡自兴编著.机器人学,清华大学出版社 200.0
[26]黄真,张永生编著.高等空间机构学,高等教育出版社 2006.
[27]高强,董超.基于MATLAB实时控制的“自动控制原理”课程实验设计 实验室研究与探索 第24卷增刊 2005.
[2]杜志江,孙传杰.康复机器人研究现状,中国康复医学杂志2003年第18卷第5期293-294.
[3]阮晓钢,仇忠臣.双足行走机器人发展现状及展望,专题论坛 2007.02 03-0017.
[4]杨辉,章亚男.下肢康复机器人减重支撑系统的研究,机电工程2009.7 26卷7期.
[5]夏昊昕,张立勋.下肢康复训练机器人,应用科技2004.2 31卷2期.
[6]张立勋,赵凌燕.下肢康复训练机器人的压力中心轨迹控制研究,应用科技2008.12 35卷12期.
[7]Yusuke Sugahara,Yutaka Mikuriya.Walking Control Method of Biped Locomotors on Inclined Plane,Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona,Spain,April 2005 1977-1982.
[8]Yusuke Sugahara,Akihiro Ohta.Walking Up and Down Stairs Carrying a Human by a Biped Locomotor with Parallel Mechanism.
[9]Yusuke SUGAHAIL,Masamiki KAWASE.Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism,Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems September 28 -October 2,2004,Sendai,Japan 3213-3218.
[10]Yusuke SUGAHARA.Realization of Dynamic Human-Carrying Walking by a Biped Locomotor,Proceedings ofthe 2000 IEEE Intsmatlonal Conference on RobOtlca 6 Automation New Orleans,LA.Aril 2004 3055-3060.
[11]Yu Ogura,Teruo Kataoka.A Novel Method of Biped Walking Pattern Generation with Predetermined Knee Joint Motion,Procwdings of 2004 IEEEIRSJ International Conference on Intelligent Robots and Systems September 28 -October 2,2004,Sendai,Japan 2831-2836.
[12]Yusuke Sugahara.Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control,Proceedings of the 2003 IEEE/RSJ InL,Las Vegas,Nevada.October 2003 595-600.
[13]H.Kazerooni.That Which Does Not Stabilize,Will Only Make Us Stronger,The Internation Journal of Robotics Research Yol.26 No.1,Januar2007,75-89.
[14]Joon-young Kim.Optimal Combination of Minimum Degrees of Freedom to be Actuated in the Lower Limbs to Facilitate Arm-Free Paraplegic Standing,ASME December 2007 838-847.
[15]H.Ikeuchi,K.Ohnishi.A Gait Training System for Human Adaptive Walking Posture,2005 IEEE International Workshop on Robots and Human Interactive Communication 605-610.
[16]Darwin G.Caldwell.Investigation of Bipedal Robot Locomotion using Pneumatic Muscle Actuators Proceedings of the 1997 IEEE International Conference on Robotics and Automation Albuquerque,New Mexico-April 1997 799-804.
[17]AaronM Dollar.Lower Extremity Exoskeletons and Active Orthoses:Challenges and State-of-the-Art,IEEE Transactions on Robotics,VOL.24,NO.1,FEBRUARY 2008 1552-1568.
[18]蔡兆云,肖湘江.外骨骼机器人技术研究综述,国防科技 2007.12 6-8.
[19]杜志江,孙传杰.康复机器人研究现状,中国康复医学杂志2003年第18卷第5期293-294.
[20]吴宝元,余永.可穿戴式下肢助力机器人运动学分析与仿真,机械科学与技术 2007.2第26卷第2期26-32.
[21]潘敏强,张铁.行走机器人控制策略研究,机床与液压 2003.No.6 335-338.
[22]Honda Motor Co.Ltd Honda Unveils Experimental Walking Assist Device With Bodyweight Support System.
[23]Katsuya KANAOKA,Power Pedal as a Man-Machine Synergy Effector—Bipedal Walking with Human Skill and Robot Power,2008 IEEE International Conference on Robotics and Automation Pasadena,CA,USA,May 19-23,2008 1779-1980.
[24]Haifan WU,Development of a Novel Pneumatic Power Assisted Lower Limb for Outdoor Walking by the Use of a Portable Pneumatic Power Source,16th IEEE International Conference on Control Applications Part of IEEE Multi-conference on Systems and Control Singapore,1-3 October 20071291-1296.
[25]蔡自兴编著.机器人学,清华大学出版社 200.0
[26]黄真,张永生编著.高等空间机构学,高等教育出版社 2006.
[27]高强,董超.基于MATLAB实时控制的“自动控制原理”课程实验设计 实验室研究与探索 第24卷增刊 2005.