基于辅助起立机器人的人体起立动力学建模与试验研究

MATHEMATICAL MODELING AND EXPERIMENTAL STUDY ON SIT-TO-STAND PROCESS BASED ON ASSISTIVE STANDING-UP ROBOT

设计了一种符合人体起立运动的辅助起立机器人,通过牛顿欧拉方程对人体起立过程动力学进行分析与建模,推导机器人辅助起立、上肢辅助起立和肌力不足下肢辅助起立3种情况下,人体力与力矩平衡方程,依据方程在Simulink中建立仿真模型,并使用传感器系统对起立机器人辅助人体起立过程中力与力矩进行测量分析.结果表明:不论采取何种辅助起立方法,辅助起立机器人都可有效辅助起立,特别是对起立初始阶段辅助效果尤为明显.上肢辅助起立时,既可保持身体平衡与稳定,又可补偿起立时所需力与力矩,在接近完全站立时这种效果尤为明显,仿真模型可预测站立过程的关节力与力矩.肌力不足下肢参与辅助起立时,所提供辅助力有限但也起到一定作用.

The new assistive standing-up robot followed the rule of sit-to-stand movement was developed. Mathematical model during standing-up motion was built by using Newton-Euler approach for kinetics analysis. Force and moment equilibrium equations were obtained and simulation model was built in Simulink by standing up with robot-aided, robot and arms supported and robot, arm and lower limbs of weakness of muscle strength. By means of assistive standing- up robot and sensors, force and moment were measured and analyzed. The results show that standing-up robot can be efficiently used to assist the rising, especially in initial stage, in spite of sit-to-stand aided-method. Arm-supported standing-up maneuver can keep the posture balance and stable, and has compensation ability of necessary force and mo- ment of lower extremity, particularly close to upright standing posture, and force and moment can be predicted accurately by the standing posture simulation model. Lower limbs of deficient muscle strength play limited role to assist the rising.