康复训练装置结构设计及运动学仿真分析
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摘要
针对如何使下肢功能障碍患者自主进行坐-站转换康复训练的问题,本文基于三维设计,设计了一种辅助下肢功能障碍患者进行坐-站转换康复训练的装置。根据人体坐-站转换运动轨迹对坐-站转换过程进行运动学逆解分析,结合RecurDyn仿真软件进行运动学仿真分析,得到虚拟样机的坐-站转换运动轨迹。研究结果表明:康复训练装置结构设计合理,能实现下肢功能障碍患者按照期望的轨迹规划进行下肢坐-站转换康复训练。
In view of the problem of how to make patients with lower limb dysfunction carry out sitting-standing conversion rehabilitation training independently,based on three-dimensional design,this paper designs a device to assist patients with lower limb dysfunction to carry out sitting-to-standing conversion rehabilitation training. According to human sitting-to-standing conversion trajectory,inverse kinematics solution analysis of the process is made,and the kinematics simulation analysis is done with RecurDyn simulation software,and then the sitting-standing conversion trajectory of virtual prototype is obtained. The results show that the structure design of the rehabilitation training device is reasonable,which can realize desired trajectory planning of the rehabilitation training for patients with lower limb dysfunction.
In view of the problem of how to make patients with lower limb dysfunction carry out sitting-standing conversion rehabilitation training independently,based on three-dimensional design,this paper designs a device to assist patients with lower limb dysfunction to carry out sitting-to-standing conversion rehabilitation training. According to human sitting-to-standing conversion trajectory,inverse kinematics solution analysis of the process is made,and the kinematics simulation analysis is done with RecurDyn simulation software,and then the sitting-standing conversion trajectory of virtual prototype is obtained. The results show that the structure design of the rehabilitation training device is reasonable,which can realize desired trajectory planning of the rehabilitation training for patients with lower limb dysfunction.
引文
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[3]刘坤,赵建琛,李超,等.基于Hyperworks的下肢康复训练系统机械结构设计与优化[J].吉林大学学报(工学版),2015,45(5):1474-1480.
[4]姜洪源,马长波,李姗姗.一种新型辅助起立康复机器人的设计及逆运动学分析[J].中国康复医学杂志,2009,24(2):162-164.
[2] Atsushi Tsukahara,Ryota Kawanishi,Yasuhisa Hasegawa,et al. Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit HAL[J]. Advanced robotics,2010,24(11):1615-1638.
[3]刘坤,赵建琛,李超,等.基于Hyperworks的下肢康复训练系统机械结构设计与优化[J].吉林大学学报(工学版),2015,45(5):1474-1480.
[4]姜洪源,马长波,李姗姗.一种新型辅助起立康复机器人的设计及逆运动学分析[J].中国康复医学杂志,2009,24(2):162-164.