人-机运动相容型下肢康复训练外骨骼机构的构型设计与分析

Configuration Design and Analysis of the Human-Machine Kinematically Compatible Type Exoskeleton Mechanism for Lower Limb Rehabilitation Training

对人-机运动相容型下肢康复训练外骨骼机构的构型设计进行研究,根据下肢的生物骨骼模型和下假肢膝关节设计技术,建立与人体下肢运动功能接近的刚体骨骼模型。分析人-机关节运动属性差异和人-机连接位姿偏差对人-机运动相容性的影响,基于人-机闭链的自由度分析和在人-机连接环节中增置连接关节,提出一种人-机运动相容的下肢外骨骼机构构型,并对无连接位姿偏差和有联接位姿偏差的骨骼-机构联体模型进行了ADAMS运动仿真分析。结果表明,在人-机连接环节中增置连接关节后,可以避免因人-机关节运动属性差异和人-机连接位姿偏差导致的人-机运动干涉现象,实现外骨骼机构运动与人体下肢运动的完全相容。

The configuration design of human-machine kinematically compatible type exoskeleton mechanism for lower limb rehabilitation training is studied. According to the biological skeletal model of human lower limb and the knee joint design technique of artificial lower limb, the rigid-body skeletal model with approximate motion function of human lower limb was established. The influences of the kinematic property difference between human joints and machine joints as well as the human-machine connecting posture deviation on human-machine kinematic compatibility were investigated. Based on the DOF analysis of human-machine closed chain and adding connective joints into human-machine linking sub-chains, a human-machine kinematieally compatible type mechanism configuration of lower limb exoskeleton was proposed, and the ADAMS kinematic simulations of the skeletal-mechanism united models with or without human-machine connecting posture deviation were presented. The results showed that human-machine kinematic interference resulted from the kinematic property difference between human joints and machine joints as well as the human-machine connecting deviation can be avoided through adding connective joints into human-machine linking sub-chains, thereby the exoskeleton mechanism and human lower limb were kinematically complete compatible.