卧式下肢康复机器人研究
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摘要
近年来,随着人们生活水平的提高和饮食结构的改变,脑血管病在世界上大多数国家已成为多发病,其发病率明显增高并日趋年轻化,目前已被公认是危及人类生命的主要疾病之一。脑血管病患者在病情稳定后,受到损害的神经会开始逐渐恢复,但是这种自然恢复的过程很慢,并且不能完全恢复。神经科学家和康复医学家在长期临床实践中,发现脑在损伤后,通过康复训练可以使神经系统完成功能重组和代偿,恢复肢体失去的运动功能,改善患者的生活自理能力。康复机器人是辅助肢体运动功能障碍患者完成临床上要求的康复训练内容,并能向患者和治疗师提供反馈信息的辅助康复治疗自动化设备。与传统治疗方式相比,机器人辅助治疗既能保证训练强度和康复效率,又能对康复过程和康复效果进行客观评价,因此,康复机器人越来越多的受到人们的关注,在康复工程与康复医学方面具有很好的应用前景。
本文是在国家自然科学基金项目：下肢康复训练机器人关键技术研究(60575053)的资助下,针对如何利用下肢康复机器人,使脑血管病所导致的下肢运动功能障碍患者实现运动功能的康复问题,在人机系统的康复运动规划、人体下肢动力学分析、康复策略等方面进行了较深入的理论分析和实验研究。
综述了国内外卧式下肢康复机器人及相关领域的研究现状,在对现有卧式下肢康复机器人的机构、工作原理以及控制策略进行分析和比较的基础上,依据运动康复机理,提出了一种新型卧式下肢康复机器人的机构方案,设计了机器人的控制方案。该机器人适合于不同身高和体重的患者使用,可以根据不同阶段的康复目的提供临床上所需要的训练模式。
对卧式下肢康复机器人人机系统进行正逆运动学分析,确定了机器人系统的工作空间。利用MATLAB/SimMechanics软件对正逆运动学模型进行检验,验证了模型的正确性。从不同康复阶段的训练需求出发,对下肢关节的康复训练进行规划,以人机系统运动学模型为基础,获得对康复机器人的运动规划,为提高康复效率及重建正常的行走运动模式打下基础。
利用拉格朗日法和牛顿-欧拉法分别建立了人体下肢动力学模型、机器人动力学模型和人机系统动力学模型。通过实验研究分析了人体动力学模型中的弹簧系数和阻尼系数,并对下肢的康复训练进行仿真研究,获得了康复过程中人机系统的动力学参数,一方面根据人体生物力学数据来评估患者康复训练的安全性和舒适性,另一方面为控制系统的设计提供理论依据。
根据脑血管病后患者的康复治疗过程选择了主被动控制策略和助力运动控制策略,利用位置控制、阻抗控制、模糊变阻抗控制三种控制方法实现临床上所需要的被动训练、主动训练和主被动训练模式,利用电流环控制方法实现助力训练模式。建立了基于MATLAB/Simulink的控制仿真模型,对控制策略进行仿真分析。分析结果表明各种控制策略的可行性和有效性,为实验研究提供理论依据。
研制了卧式下肢康复机器人实验样机,介绍了机器人的测量系统和控制系统。利用dSPACE平台对人体下肢的康复训练进行实验研究,包括被动训练实验、助力训练实验、主动训练实验、模拟痉挛实验以及主被动实验。实验研究验证了机器人机构的合理性,控制系统中各种控制策略的有效性。
With the improvement of people's living standards and the changes in diet in recent years, cerebrovascular diseases have become frequently-occurring diseases in most countries in the world. The disease's incidence significantly increased and has younger trend. This disease has been recognized as one of main diseases that endanger the life at present. After the patients with cerebrovascular disease were in stable disease stage, injured nerve shall recover gradually. But recovery process is very slow and the nerve can't recover entirely. Neurologist and rehabilitation doctor find that the function of injured nerve system can recombine and compensate, lost motion function can recover and the self-care ability of patient shall improve by rehabilitation training in long clinical practice. Rehabilitation training robot is a kind of assistant rehabilitation therapy automatic equipment that can assist patient with lower limbs motion dysfunction in completing clinical rehabilitation training content, and can provide feedback information for patient and doctor. Compared with traditional treatment method, robot assistant treatment method can guarantee training intensity and rehabilitation efficiency. The rehabilitation process and effect also are evaluated objectively. Hence, people pay more attention to rehabilitation robot that has application prospect in rehabilitation project and medicine.
This work is supported by National Natural Science Foundation of China. The project is called key technologies for lower limbs rehabilitation training robot (60575053). According to how to rehabilitate lower limbs motion function of patient that has lower limbs motion dysfunction caused by cerebrovascular disease using lower limbs rehabilitation robot, theoretical analysis and experimental research of man-machine system's rehabilitation motion planning, lower limbs mechanics characteristic analysis, and rehabilitation strategy are made.
Research status of horizontal lower limbs rehabilitation robot and related fields is presented at home and abroad. Based on lower analyzing and comparing limbs rehabilitation robot's machine, working principle and control strategy at home and abroad, the machine scheme of novel horizontal lower limbs rehabilitation robot is proposed and the robot's control scheme is designed. This robot is suitable for patient with different statures and weights. The required training mode is chosed according to the different purposes in different rehabilitation phase.
Forward and inverse kinematics of horizontal lower limbs rehabilitation robot's man-machine system is analyzed. Work range of robotic system is determined. The forward and inverse kinematics model is verified by MATLAB/SimMechanics software. The results show that the model is correctness. Aiming to rehabilitation training in different rehabilitation phases, rehabilitation training of lower limb joint is planned and the motion planning of rehabilitation robot is obtained based on Kinematics model of man-machine system. Thus all the work above has made the basis for rehabilitating natural walk motion.
Lower limb's dynamic model, robot dynamic model and man-machine dynamic model are established respectively using Lagrange method and Newton-Euler method. The spring coefficient and damping coefficient of human body dynamic model are analyzed using experiment research. The rehabilitation train of lower limbs is also simulated. Thus the dynamics parameters of man-machine system are obtained. These parameters are not only used for evaluating security and comfort of patient as rehabilitation training according to the data of human biomechanics, but also provide the theory basis for designing control system.
Active-passive control strategies and power-assisted control strategies are chose according to the rehabilitation curing process of cerebrovascular patients. To achieve the passive training, active training and active-passive training in clinical training, the position control, impedance control and fuzzy impedance control are used. Power training mode is achieved using current loop control. These control strategies are simulated based on simulation model in MATLAB/Simulink software. The results show that all control strategies are feasible and effective. Thus all the work above has provided the theory basis for the experiment research.
The experiment prototype of horizontal lower limbs rehabilitation robot is designed. Measuring system and control system of the robot are introduced. Lower limbs rehabilitation train experiments are completed using dSPACE platform. These experiments include passive training experiment, power-assisted training experiment, active training experiment, the experiment of simulating spasm and active-passive experiment of lower limbs. The results show that the robot's machine is rationality, and the all control strategies presented in control system is effective.
本文是在国家自然科学基金项目：下肢康复训练机器人关键技术研究(60575053)的资助下,针对如何利用下肢康复机器人,使脑血管病所导致的下肢运动功能障碍患者实现运动功能的康复问题,在人机系统的康复运动规划、人体下肢动力学分析、康复策略等方面进行了较深入的理论分析和实验研究。
综述了国内外卧式下肢康复机器人及相关领域的研究现状,在对现有卧式下肢康复机器人的机构、工作原理以及控制策略进行分析和比较的基础上,依据运动康复机理,提出了一种新型卧式下肢康复机器人的机构方案,设计了机器人的控制方案。该机器人适合于不同身高和体重的患者使用,可以根据不同阶段的康复目的提供临床上所需要的训练模式。
对卧式下肢康复机器人人机系统进行正逆运动学分析,确定了机器人系统的工作空间。利用MATLAB/SimMechanics软件对正逆运动学模型进行检验,验证了模型的正确性。从不同康复阶段的训练需求出发,对下肢关节的康复训练进行规划,以人机系统运动学模型为基础,获得对康复机器人的运动规划,为提高康复效率及重建正常的行走运动模式打下基础。
利用拉格朗日法和牛顿-欧拉法分别建立了人体下肢动力学模型、机器人动力学模型和人机系统动力学模型。通过实验研究分析了人体动力学模型中的弹簧系数和阻尼系数,并对下肢的康复训练进行仿真研究,获得了康复过程中人机系统的动力学参数,一方面根据人体生物力学数据来评估患者康复训练的安全性和舒适性,另一方面为控制系统的设计提供理论依据。
根据脑血管病后患者的康复治疗过程选择了主被动控制策略和助力运动控制策略,利用位置控制、阻抗控制、模糊变阻抗控制三种控制方法实现临床上所需要的被动训练、主动训练和主被动训练模式,利用电流环控制方法实现助力训练模式。建立了基于MATLAB/Simulink的控制仿真模型,对控制策略进行仿真分析。分析结果表明各种控制策略的可行性和有效性,为实验研究提供理论依据。
研制了卧式下肢康复机器人实验样机,介绍了机器人的测量系统和控制系统。利用dSPACE平台对人体下肢的康复训练进行实验研究,包括被动训练实验、助力训练实验、主动训练实验、模拟痉挛实验以及主被动实验。实验研究验证了机器人机构的合理性,控制系统中各种控制策略的有效性。
With the improvement of people's living standards and the changes in diet in recent years, cerebrovascular diseases have become frequently-occurring diseases in most countries in the world. The disease's incidence significantly increased and has younger trend. This disease has been recognized as one of main diseases that endanger the life at present. After the patients with cerebrovascular disease were in stable disease stage, injured nerve shall recover gradually. But recovery process is very slow and the nerve can't recover entirely. Neurologist and rehabilitation doctor find that the function of injured nerve system can recombine and compensate, lost motion function can recover and the self-care ability of patient shall improve by rehabilitation training in long clinical practice. Rehabilitation training robot is a kind of assistant rehabilitation therapy automatic equipment that can assist patient with lower limbs motion dysfunction in completing clinical rehabilitation training content, and can provide feedback information for patient and doctor. Compared with traditional treatment method, robot assistant treatment method can guarantee training intensity and rehabilitation efficiency. The rehabilitation process and effect also are evaluated objectively. Hence, people pay more attention to rehabilitation robot that has application prospect in rehabilitation project and medicine.
This work is supported by National Natural Science Foundation of China. The project is called key technologies for lower limbs rehabilitation training robot (60575053). According to how to rehabilitate lower limbs motion function of patient that has lower limbs motion dysfunction caused by cerebrovascular disease using lower limbs rehabilitation robot, theoretical analysis and experimental research of man-machine system's rehabilitation motion planning, lower limbs mechanics characteristic analysis, and rehabilitation strategy are made.
Research status of horizontal lower limbs rehabilitation robot and related fields is presented at home and abroad. Based on lower analyzing and comparing limbs rehabilitation robot's machine, working principle and control strategy at home and abroad, the machine scheme of novel horizontal lower limbs rehabilitation robot is proposed and the robot's control scheme is designed. This robot is suitable for patient with different statures and weights. The required training mode is chosed according to the different purposes in different rehabilitation phase.
Forward and inverse kinematics of horizontal lower limbs rehabilitation robot's man-machine system is analyzed. Work range of robotic system is determined. The forward and inverse kinematics model is verified by MATLAB/SimMechanics software. The results show that the model is correctness. Aiming to rehabilitation training in different rehabilitation phases, rehabilitation training of lower limb joint is planned and the motion planning of rehabilitation robot is obtained based on Kinematics model of man-machine system. Thus all the work above has made the basis for rehabilitating natural walk motion.
Lower limb's dynamic model, robot dynamic model and man-machine dynamic model are established respectively using Lagrange method and Newton-Euler method. The spring coefficient and damping coefficient of human body dynamic model are analyzed using experiment research. The rehabilitation train of lower limbs is also simulated. Thus the dynamics parameters of man-machine system are obtained. These parameters are not only used for evaluating security and comfort of patient as rehabilitation training according to the data of human biomechanics, but also provide the theory basis for designing control system.
Active-passive control strategies and power-assisted control strategies are chose according to the rehabilitation curing process of cerebrovascular patients. To achieve the passive training, active training and active-passive training in clinical training, the position control, impedance control and fuzzy impedance control are used. Power training mode is achieved using current loop control. These control strategies are simulated based on simulation model in MATLAB/Simulink software. The results show that all control strategies are feasible and effective. Thus all the work above has provided the theory basis for the experiment research.
The experiment prototype of horizontal lower limbs rehabilitation robot is designed. Measuring system and control system of the robot are introduced. Lower limbs rehabilitation train experiments are completed using dSPACE platform. These experiments include passive training experiment, power-assisted training experiment, active training experiment, the experiment of simulating spasm and active-passive experiment of lower limbs. The results show that the robot's machine is rationality, and the all control strategies presented in control system is effective.
引文
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