步态训练机器人骨盆运动控制机构研究

Study on pelvic motion control mechanism of gait training robot

提出一种欠驱动4自由度骨盆运动控制机构结构形式,定性分析了机构运动原理和补偿弹簧的作用,并建立了力学平衡方程。利用SimMechanics建立了机构模型,针对正常人步态过程中骨盆的运动状态进行了机构控制仿真,仿真结果表明了该机构实现期望运动控制的可行性。研制了实验样机,针对空载和主动真人不同负载情况进行了实验研究,分析了约束弹簧在不同负载时对控制机构运动的影响情况,结果验证了该样机实现步态中骨盆运动控制的可行性,为进一步完善步态训练机器人提供依据。

An under drive 4 DOF pelvic motion control mechanism structure form was presented,the mechanism motion principle and compensation spring role were analyzed qualitatively.In addition,mechanical equilibrium equations were found.mechanism model for normal gait was established by using SimMechanics.The mechanism control simulation of pelvis movement state for able-bodied person gait was carried out.The results showed that the mechanism realizes the feasibility of its expected motion control.A prototype was developed,and experimental research of the mechanism under the no-load and different load condition was carried out.The effects of spring on the mechanism motion control in different load were analyzed.The results verified the prototype for realizing feasibility of bone sports basin control in gait movement,and provided the basis for further perfecting gait training robot.