外骨骼型下肢康复机器人结构设计与动力学分析

Design and Dynamic Analysis of an Exoskeletal Lower Limbs Rehabilitation Robot

针对当前下肢瘫患者众多而康复师和智能化康复设备短缺的状况,设计出多关节、坐/卧式下肢康复机器人。该机器人包括一个靠背角度可自动调节的座椅和两条外骨骼型机械腿,可适应不同身高和胖瘦的患者。详细介绍了该机器人的结构及功能,包括机器人的技术参数;机械腿髋、膝、踝三个关节及足部的结构和驱动方式;大腿和小腿长度调节机构;关节旋转角度的三重安全保护措施;电测、电控硬件的布置。建立人/机一体化模型,对机器人的运动学和动力学进行理论分析,并结合ADAMS软件进行运动学和动力学仿真;临床试验表明该机器人设计方案的可行性、安全性,并验证计算和仿真结果的正确性,但是其疗效还需要进一步验证。最后分析关节力矩产生测量误差的主要原因。

The supply of traditional rehabilitation equipment can not satisfy the need of more and more paraplegia patients at present. A new exoskeletal rehabilitation robot is developed. The robot consists of two mechanical legs and an automatic seat. The length of the legs can be adjusted to fit different patients. Each mechanical leg has three degrees of freedom （DOF）, just like the hip, the knee and the ankle joints. The patient can sit or lie in the seat. The functions of the robot are introduced, such as the robot technical parameters; the structure and the driving mode of the mechanical leg; the length adjusting function of the thigh and the calf; the multiple protection measures with the extreme revolving range of the 3 joints; the installation of the electric hardware. The human-machine integration model of the robot is established, and then the kinematics and the dynamics are analyzed and simulated with ADAMS software. The clinical experiments prove that the patients and the doctors are satisfied with the operation, safety and motion control. But the rehabilitation effect needs to be validated further. The clinical experiment results are compared with the simulation date of the tortile sensors and the main distinction matters are analyzed.