生物融合式康复机构理论与应用研究
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摘要
康复机构是康复机器人实现运动功能的基础,其性质直接决定了康复机器人对患者的康复效果,是康复工程研究的重点内容。生物融合式康复机构是一类由人体和机械共同组成的现代机构新类型,在康复运动过程中可以实现人体与机械间运动的交互与协调,更能满足康复机器人的设计要求。本课题对生物融合式康复机构及其应用进行了较为系统的研究。主要内容如下:
基于康复运动系统中人体机构与机械机构间的相互作用关系,提出了生物融合式康复机构的概念,并介绍了该类新机构的特征、分类、自由度以及符号表示方法。基于螺旋理论并结合生物融合式康复机构的特征,分别给出并联和串联生物融合式康复机构的型综合方法和原则,依据上述方法进行生物融合式踝关节、膝关节康复机构的型综合。
推导了平面单环S髋R膝|P(Pe)~⊥Re~∥R生物融合式膝关节康复机构在人体作用下,机构的平衡位置计算公式;绘制了不同条件下机械驱动与膝关节夹角的关系曲线,并讨论了人体关节力矩对膝关节夹角的影响;建立了机械机构的柔度模型,并计算了不同关节力矩下该机构的方向柔度。
采用虚设机构运动影响系数法建立了并联I类球面S踝2-R_N (Re)R_NR_N/R_N(Re)R~bR~bR~bR_N生物融合式踝关节康复机构的康复力平衡方程;分析了康复运动过程中机构的输入、输出以及力位平衡问题并进行数值验证;讨论了该机构在踝关节背屈/趾屈运动过程中的解耦性,建立了机械驱动和关节作用力矩间的误差模型以及机械机构的柔度模型,并绘制了误差传递矩阵的条件数以及柔度矩阵特征值在工作空间的分布图。
基于机构一阶影响系数建立了并联II类PS踝4- b~U⊥P(Pe)S生物融合式踝关节康复机构的康复力平衡方程;分析了康复运动过程中机构的输入、输出以及力位平衡问题并进行数值验证;依据踝关节康复过程中的人机工程学以及康复机构的工作空间、力学性能对结构参数进行优化设计;分析了人体机构与机械机构的定位误差对踝关节姿态的影响。
以生物融合式康复机构的实用化为目标,研究了生物融合式康复机器人设计流程;基于两类生物融合式踝关节康复机构,综合考虑康复机器人设计要求,研制出两台新型踝关节康复机器人样机。
本研究为生物融合式康复机构的应用与推广奠定了基础,对新型生物融合式康复机器人的研发具有重要的指导意义。
The rehabilitation mechanism is the foundation for a rehabilitation robot to realize its motion, and the quality of the rehabilitation mechanism decides the rehabilitation effect of patients with the rehabilitation robot. The research of rehabilitation mechanism is the key content in rehabilitation engineering. The bio-syncretic rehabilitation mechanism (BSRM) is a new type of modern mechanism composed of human body and machine, and it can meet the design requirements of rehabilitation robot more effectively because of the interaction and harmonization between human body and machine during the rehabilititon exercise.This paper presents the relative systematic research on BSRM and its application. The main contents of this paper are as follows:
The concept of rehabilitation mechanism is proposed based on the relationship between human body mechanism and mechanical mechanism in the rehabilitation kinematics system,and the characteristics , degree of freedom, classification and symbol representation of this new kind of mechanism is introduced. The approaches to type synthesis of parallel BSRM and series BSRM are developed based on screw theory and the characteristic of BSRM, and some parallel BSRMs for ankle joint rehabilitation and series BSRMs for knee joint rehabilitation are got.
Taking the planar monocycle S髋R膝|P(Pe)~⊥Re∥~R rehabilitation mechanism as an example, the calculation formula of its equilibrium position coupling with human force is deduced. The relationship curve about mechanical input and the angle of knee joint under different situation is drawn, and the effection of human joint moment on the equilibrium position is discussed. The flexibility model of the mechanical mechanism is built, and the direction flexibility is calculated with different joint moment.
The force balance equation of the spherical S踝2-R_N (Re)R_NR_N/R_N(Re)b~Rb~Rb~RR_N BSRM for ankle rehabilitation is built based on the kinematic influence coefficient with nominal mechanism. The input, ouput and force–position balance analysis of rehabilitation exercise are discussed and proved accurate by a numerical example. The character of decoupling during dorsiflexion/ plantarflexion is discussed, and the error modle between mechanical actuation and joint moment is set up. The distribution of the condition number of error transfer matrix and the eigenvalue of flexibility matrix with initial force in the workspace are given.
The rehabilitation force balance equation of PS踝4- b~U⊥P(Pe)S is built based on the first order kinematic influence coefficient, and the input, ouput and force-position balance analysis of rehabilitation exercise are discussed and proved accurate by a numerical example. A group of structural parameters are got according to the optimum design, which is based on the ergonomics, the workspace and mechanical property of the mechanism. The impact of the positioning error between human body mechanism and mechanical mechanism on the ankle orientation is dicussed.
Aiming at the practicability of BSRM, the design flow of bio-syncretic rehabilitation robots is dicussed. Taking the design requirements of rehabilitation robot into account, two prototypes of bio-syncretic rehabilitation robots are developed based on two BSRMs for ankle rehabilitation.
It lays a solid foundation for the application and popularization of BRSM, and has important guidance significance for the research and development of novel bio-syncretic rehabilitation robots.
基于康复运动系统中人体机构与机械机构间的相互作用关系,提出了生物融合式康复机构的概念,并介绍了该类新机构的特征、分类、自由度以及符号表示方法。基于螺旋理论并结合生物融合式康复机构的特征,分别给出并联和串联生物融合式康复机构的型综合方法和原则,依据上述方法进行生物融合式踝关节、膝关节康复机构的型综合。
推导了平面单环S髋R膝|P(Pe)~⊥Re~∥R生物融合式膝关节康复机构在人体作用下,机构的平衡位置计算公式;绘制了不同条件下机械驱动与膝关节夹角的关系曲线,并讨论了人体关节力矩对膝关节夹角的影响;建立了机械机构的柔度模型,并计算了不同关节力矩下该机构的方向柔度。
采用虚设机构运动影响系数法建立了并联I类球面S踝2-R_N (Re)R_NR_N/R_N(Re)R~bR~bR~bR_N生物融合式踝关节康复机构的康复力平衡方程;分析了康复运动过程中机构的输入、输出以及力位平衡问题并进行数值验证;讨论了该机构在踝关节背屈/趾屈运动过程中的解耦性,建立了机械驱动和关节作用力矩间的误差模型以及机械机构的柔度模型,并绘制了误差传递矩阵的条件数以及柔度矩阵特征值在工作空间的分布图。
基于机构一阶影响系数建立了并联II类PS踝4- b~U⊥P(Pe)S生物融合式踝关节康复机构的康复力平衡方程;分析了康复运动过程中机构的输入、输出以及力位平衡问题并进行数值验证;依据踝关节康复过程中的人机工程学以及康复机构的工作空间、力学性能对结构参数进行优化设计;分析了人体机构与机械机构的定位误差对踝关节姿态的影响。
以生物融合式康复机构的实用化为目标,研究了生物融合式康复机器人设计流程;基于两类生物融合式踝关节康复机构,综合考虑康复机器人设计要求,研制出两台新型踝关节康复机器人样机。
本研究为生物融合式康复机构的应用与推广奠定了基础,对新型生物融合式康复机器人的研发具有重要的指导意义。
The rehabilitation mechanism is the foundation for a rehabilitation robot to realize its motion, and the quality of the rehabilitation mechanism decides the rehabilitation effect of patients with the rehabilitation robot. The research of rehabilitation mechanism is the key content in rehabilitation engineering. The bio-syncretic rehabilitation mechanism (BSRM) is a new type of modern mechanism composed of human body and machine, and it can meet the design requirements of rehabilitation robot more effectively because of the interaction and harmonization between human body and machine during the rehabilititon exercise.This paper presents the relative systematic research on BSRM and its application. The main contents of this paper are as follows:
The concept of rehabilitation mechanism is proposed based on the relationship between human body mechanism and mechanical mechanism in the rehabilitation kinematics system,and the characteristics , degree of freedom, classification and symbol representation of this new kind of mechanism is introduced. The approaches to type synthesis of parallel BSRM and series BSRM are developed based on screw theory and the characteristic of BSRM, and some parallel BSRMs for ankle joint rehabilitation and series BSRMs for knee joint rehabilitation are got.
Taking the planar monocycle S髋R膝|P(Pe)~⊥Re∥~R rehabilitation mechanism as an example, the calculation formula of its equilibrium position coupling with human force is deduced. The relationship curve about mechanical input and the angle of knee joint under different situation is drawn, and the effection of human joint moment on the equilibrium position is discussed. The flexibility model of the mechanical mechanism is built, and the direction flexibility is calculated with different joint moment.
The force balance equation of the spherical S踝2-R_N (Re)R_NR_N/R_N(Re)b~Rb~Rb~RR_N BSRM for ankle rehabilitation is built based on the kinematic influence coefficient with nominal mechanism. The input, ouput and force–position balance analysis of rehabilitation exercise are discussed and proved accurate by a numerical example. The character of decoupling during dorsiflexion/ plantarflexion is discussed, and the error modle between mechanical actuation and joint moment is set up. The distribution of the condition number of error transfer matrix and the eigenvalue of flexibility matrix with initial force in the workspace are given.
The rehabilitation force balance equation of PS踝4- b~U⊥P(Pe)S is built based on the first order kinematic influence coefficient, and the input, ouput and force-position balance analysis of rehabilitation exercise are discussed and proved accurate by a numerical example. A group of structural parameters are got according to the optimum design, which is based on the ergonomics, the workspace and mechanical property of the mechanism. The impact of the positioning error between human body mechanism and mechanical mechanism on the ankle orientation is dicussed.
Aiming at the practicability of BSRM, the design flow of bio-syncretic rehabilitation robots is dicussed. Taking the design requirements of rehabilitation robot into account, two prototypes of bio-syncretic rehabilitation robots are developed based on two BSRMs for ankle rehabilitation.
It lays a solid foundation for the application and popularization of BRSM, and has important guidance significance for the research and development of novel bio-syncretic rehabilitation robots.
引文
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