多功能助行机器人机构研究
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摘要
我国除了肢体残疾人中大部分需要使用轮椅代步外，部分老年人也依靠轮椅代步。这些残疾人和老年人由于长期使用轮椅，极容易产生压疮、下肢骨质疏松和肌肉萎缩等并发症，严重的甚至能危及生命。目前在许多养老院、社区、医院等单位建立了辅助残障人和老年人进行康复训练的专用活动场所，但是，这些场所缺乏可以把人从其乘坐的轮椅上转成站立姿态进行站立或者行走训练的设备。因此，急需既具有站立架功能，又能在坐姿、站姿和行走时对下肢进行被动训练的多功能康复装置。助行康复机器人的主要作用是为使用者提供智能的行走辅助，进而维持、甚至强化他们的行走能力，使他们能摆脱正常人的搀扶，安全独立的行走，并不是作为一个代步工具，取代他们的行走功能。助行机器人相较于传统的非智能助行设备来说，功能更为丰富，安全性、舒适性更高。所以，研制能够协助老年人及残疾人进行起坐康复训练、行走康复训练等多方面服务的机器人，对促进我国康复医学的发展，具有重要意义。
论文是在国家高技术发展计划（863计划）重点项目：多功能助行康复机器人（2008AA040203）的资助下，针对如何利用助行康复机器人，帮助无力自主行走的老年人以及具有下肢行走障碍的残疾人进行起坐训练和助行训练的问题，在助行机器人机构方案和驱动控制方案、助行机构的运动规划、起坐机构分析、辅助行走过程人机系统动力学等方面进行了较深入的理论分析和实验研究。
综述了国内外助行康复机器人及相关领域的研究现状，对现有助行康复机器人的机构、驱动方式、工作原理进行分析和对比的基础上，依据康复医学理论，提出一种被动式助行机器人的结构方案，阐述机构的特点及其工作原理，设计机器人的驱动控制方案，并研制多功能助行康复机器人样机。
根据实验测得的人体行走步态信息及助行训练要求，对助行机构进行参数优化。利用D-H法对助行机构进行正、逆运动学分析，建立相应的运动学模型。通过机构仿真工具包SimMechanics中的仿真模块建立助行机构的运动学仿真模型，验证助行机构运动学分析的正确性，得到助行机构的工作空间。并对双侧助行机构进行协调运动规划和仿真分析。
采用D-H法对人体站立过程进行运动学分析，得到站立过程臀部的运动轨迹。建立基于SimMechanics的起坐机构运动学及动力学仿真模型，分析不同使用情况下弹簧对起坐机构驱动力矩的影响。仿真结果证明起坐机构末端运动规律和正常人站起过程臀部的运动规律基本相符，可以用来模拟正常人的站起运动过程。
为研究人体下肢和助行机构的力学特性，分别建立人体下肢和助行机构的力学模型，采用虚功原理求解广义力，并利用拉格朗日方法建立人体下肢和助行机构的动力学方程。利用联合约束法建立人机系统动力学模型，分析不同人体重量、不同步幅、不同步态周期使用情况下对系统驱动性能的影响，为助行机构驱动电机的选择及控制策略的研究提供理论依据。
研制了多功能助行康复机器人实验样机，介绍机器人的研制过程及实际应用情况。利用dSPACE平台进行相关的实验研究，包括电机性能检测、起坐机构和助行机构实验。实验研究证明在多功能助行机器人的协助下，能够实现辅助起坐、辅助行走等康复训练，可以为下肢患者及体弱老年人提供多种康复训练服务。
In China, some parts of the old people rely on wheelchair instead of walking besidesmost people with physical disability. For disabled people and the old people, it is easy toresult in complications, such as pressure sores, lower limbs osteoporosis, muscle atrophy andso on, due to long-term using wheelchair. Even it can be dangerous for living. At present, inmany nursing homes, communities, hospitals and so on, have established specialized activityplaces to do rehabilitation training for the disabled and the elderly. However, there is lack ofequipments to train people standing or walking from their wheelchair to standing posture.Therefore, it is urgent to have multifunctional rehabilitation devices which are of stand framefunction and passive training function for lower limbs under the conditions of sitting position,standing position and walking. The main function of walking assistance rehabilitative robot isto provide intelligent auxiliary walking for users, and to maintain and even strengthen theirability to walk, so that they do not need be supported by others and can walk safety andindependently. So it is not a tool which is instead of their walking. To compare with thetraditional intelligence walking assistance devices, its functions are more plenty, safe andcomfort. So the research of the rehabilitation robot that can help the elderly and the disabledto rehabilitation training, is of great significance to promote the development of rehabilitationmedicine in our country.
The research work of this dissertation is supported by the major project of national hightechnology development program (863program), whose name is multifunctional walkingassistance rehabilitative robot (2008aa040203). In order to solve some key problems, whichare existed in the standing-up training and walking assistance training, it is need to know howto use walking assistance rehabilitative robot to help the elderly themselves with no ability towalk. So theoretical analysis and experimental study are done deeply in the following aspects.There are mechanism scheme and drive control scheme of walking assistance robot, motionplanning of walking assistance mechanism, analysis of standing-up mechanism, and thedynamics of man-machine system in the process of walking assistance.
The research present situations of the domestic and foreign walking assistancerehabilitative robot and related fields are summarized. The mechanism, drive mode andworking principle are analyzed and compared. According to the rehabilitation medical theory,the structure option of one kind of passive walking assistance robot is presented. Thecharacteristics of mechanism and its working principle are described. And the drive controlscheme of robot is designed. The prototype of multifunctional walking assistancerehabilitative robot is produced as well.
According to the experimental measurement of human walking gait information and the training requirement of walking assistance, it is need to optimize the parameters of walkingassistance mechanism. The positive and inverse kinematics of walking assistance mechanismis analyzed and the corresponding kinematics models are established by using D-H method.The kinematics simulation model of walking assistance mechanism is set up by usingsimulation module of the mechanism simulation toolkit SimMechanics. And the validation ofkinematics analysis of walking assistance mechanism is tested and verified. Then the workingspace of walking assistance mechanism is got. And the coordinate motion planning andsimulation analysis of the both sides of the walking assistance mechanism are finished.
The kinematics analysis of the people’s standing procedure is done by using D-H method.And the motion trail of buttocks in the process of standing is got. Based on SimMechanics,kinematics and dynamics simulation models of standing-up mechanism are set up. And theinfluence of drive torque, which is caused by spring to standing-up mechanism at differentusing conditions, is analyzed. According to the simulation results, it can prove that the motionlaw of the end of sit up mechanism is basically coincided with the motion law of buttocks inthe process of standing. So it can be used to simulate the process of standing about normalpeople.
In order to study lower limbs and mechanical property of walking assistance mechanism,the model of them are established respectively. The generalized force is solved by usingvirtual work principle. And the dynamics equation of lower limbs and walking assistancemechanism are established by using Lagrange method. The man-machine system dynamicsmodel is set up on the bases of joint constraint method. The influence on drive performance ofsystem is analyzed, which is caused by different weight of people, different steps, anddifferent gait cycle. So, it can provide theoretical basis for the choice of motor and controlstrategy on walking assistance mechanism.
The prototype of multifunctional walking assistance rehabilitation robot is produced. Themanufacture procedure of robot and its practical application are also introduced. The relatedexperimental research are done by using dSPACE platform, such as motor performanceexperiments, standing-up mechanism experiments and walking assistance mechanismexperiments. Through the results of experiments, it can prove that the rehabilitation trainingof standing-up and walking assistance can be carried out under the auxiliary ofmultifunctional walking assistance robot. So it can give many kinds of rehabilitation trainingservices to lower limbs patients and weak elderly.
论文是在国家高技术发展计划（863计划）重点项目：多功能助行康复机器人（2008AA040203）的资助下，针对如何利用助行康复机器人，帮助无力自主行走的老年人以及具有下肢行走障碍的残疾人进行起坐训练和助行训练的问题，在助行机器人机构方案和驱动控制方案、助行机构的运动规划、起坐机构分析、辅助行走过程人机系统动力学等方面进行了较深入的理论分析和实验研究。
综述了国内外助行康复机器人及相关领域的研究现状，对现有助行康复机器人的机构、驱动方式、工作原理进行分析和对比的基础上，依据康复医学理论，提出一种被动式助行机器人的结构方案，阐述机构的特点及其工作原理，设计机器人的驱动控制方案，并研制多功能助行康复机器人样机。
根据实验测得的人体行走步态信息及助行训练要求，对助行机构进行参数优化。利用D-H法对助行机构进行正、逆运动学分析，建立相应的运动学模型。通过机构仿真工具包SimMechanics中的仿真模块建立助行机构的运动学仿真模型，验证助行机构运动学分析的正确性，得到助行机构的工作空间。并对双侧助行机构进行协调运动规划和仿真分析。
采用D-H法对人体站立过程进行运动学分析，得到站立过程臀部的运动轨迹。建立基于SimMechanics的起坐机构运动学及动力学仿真模型，分析不同使用情况下弹簧对起坐机构驱动力矩的影响。仿真结果证明起坐机构末端运动规律和正常人站起过程臀部的运动规律基本相符，可以用来模拟正常人的站起运动过程。
为研究人体下肢和助行机构的力学特性，分别建立人体下肢和助行机构的力学模型，采用虚功原理求解广义力，并利用拉格朗日方法建立人体下肢和助行机构的动力学方程。利用联合约束法建立人机系统动力学模型，分析不同人体重量、不同步幅、不同步态周期使用情况下对系统驱动性能的影响，为助行机构驱动电机的选择及控制策略的研究提供理论依据。
研制了多功能助行康复机器人实验样机，介绍机器人的研制过程及实际应用情况。利用dSPACE平台进行相关的实验研究，包括电机性能检测、起坐机构和助行机构实验。实验研究证明在多功能助行机器人的协助下，能够实现辅助起坐、辅助行走等康复训练，可以为下肢患者及体弱老年人提供多种康复训练服务。
In China, some parts of the old people rely on wheelchair instead of walking besidesmost people with physical disability. For disabled people and the old people, it is easy toresult in complications, such as pressure sores, lower limbs osteoporosis, muscle atrophy andso on, due to long-term using wheelchair. Even it can be dangerous for living. At present, inmany nursing homes, communities, hospitals and so on, have established specialized activityplaces to do rehabilitation training for the disabled and the elderly. However, there is lack ofequipments to train people standing or walking from their wheelchair to standing posture.Therefore, it is urgent to have multifunctional rehabilitation devices which are of stand framefunction and passive training function for lower limbs under the conditions of sitting position,standing position and walking. The main function of walking assistance rehabilitative robot isto provide intelligent auxiliary walking for users, and to maintain and even strengthen theirability to walk, so that they do not need be supported by others and can walk safety andindependently. So it is not a tool which is instead of their walking. To compare with thetraditional intelligence walking assistance devices, its functions are more plenty, safe andcomfort. So the research of the rehabilitation robot that can help the elderly and the disabledto rehabilitation training, is of great significance to promote the development of rehabilitationmedicine in our country.
The research work of this dissertation is supported by the major project of national hightechnology development program (863program), whose name is multifunctional walkingassistance rehabilitative robot (2008aa040203). In order to solve some key problems, whichare existed in the standing-up training and walking assistance training, it is need to know howto use walking assistance rehabilitative robot to help the elderly themselves with no ability towalk. So theoretical analysis and experimental study are done deeply in the following aspects.There are mechanism scheme and drive control scheme of walking assistance robot, motionplanning of walking assistance mechanism, analysis of standing-up mechanism, and thedynamics of man-machine system in the process of walking assistance.
The research present situations of the domestic and foreign walking assistancerehabilitative robot and related fields are summarized. The mechanism, drive mode andworking principle are analyzed and compared. According to the rehabilitation medical theory,the structure option of one kind of passive walking assistance robot is presented. Thecharacteristics of mechanism and its working principle are described. And the drive controlscheme of robot is designed. The prototype of multifunctional walking assistancerehabilitative robot is produced as well.
According to the experimental measurement of human walking gait information and the training requirement of walking assistance, it is need to optimize the parameters of walkingassistance mechanism. The positive and inverse kinematics of walking assistance mechanismis analyzed and the corresponding kinematics models are established by using D-H method.The kinematics simulation model of walking assistance mechanism is set up by usingsimulation module of the mechanism simulation toolkit SimMechanics. And the validation ofkinematics analysis of walking assistance mechanism is tested and verified. Then the workingspace of walking assistance mechanism is got. And the coordinate motion planning andsimulation analysis of the both sides of the walking assistance mechanism are finished.
The kinematics analysis of the people’s standing procedure is done by using D-H method.And the motion trail of buttocks in the process of standing is got. Based on SimMechanics,kinematics and dynamics simulation models of standing-up mechanism are set up. And theinfluence of drive torque, which is caused by spring to standing-up mechanism at differentusing conditions, is analyzed. According to the simulation results, it can prove that the motionlaw of the end of sit up mechanism is basically coincided with the motion law of buttocks inthe process of standing. So it can be used to simulate the process of standing about normalpeople.
In order to study lower limbs and mechanical property of walking assistance mechanism,the model of them are established respectively. The generalized force is solved by usingvirtual work principle. And the dynamics equation of lower limbs and walking assistancemechanism are established by using Lagrange method. The man-machine system dynamicsmodel is set up on the bases of joint constraint method. The influence on drive performance ofsystem is analyzed, which is caused by different weight of people, different steps, anddifferent gait cycle. So, it can provide theoretical basis for the choice of motor and controlstrategy on walking assistance mechanism.
The prototype of multifunctional walking assistance rehabilitation robot is produced. Themanufacture procedure of robot and its practical application are also introduced. The relatedexperimental research are done by using dSPACE platform, such as motor performanceexperiments, standing-up mechanism experiments and walking assistance mechanismexperiments. Through the results of experiments, it can prove that the rehabilitation trainingof standing-up and walking assistance can be carried out under the auxiliary ofmultifunctional walking assistance robot. So it can give many kinds of rehabilitation trainingservices to lower limbs patients and weak elderly.
引文
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