下肢康复机器人示教训练方法研究

Research on teaching training method of the lower limb rehabilitation robot

针对现存的下肢康复机器人技术未能与康复治疗人员的治疗经验有效结合的问题,提出了1种下肢康复机器人示教训练方法。建立了示教训练方法的数学模型,并设计了下肢康复机器人无线数据采集系统,获取患者在康复医师治疗其下肢过程中肢体运动信息,这些信息用于机器人的控制,从而再现康复医师治疗过程,提高了机器人的治疗效果,有效降低了康复医师的劳动强度。对示教训练的无线数据采集系统进行静态测量误差分析及系统标定,实验结果表明该系统可满足下肢康复机器人示教训练的要求,为康复机器人关键技术研究奠定理论基础。

A teaching training method for lower limb rehabilitation robot is proposed, because the existing technology of rehabilitation robot is not able to combine with the clinical experience of rehabilitation physician effectively. During the physician treating patient, the robot obtains motion information of patient＇s lower limb via a wireless data acquisition system and those data is used to control the robot to reproduce the physician＇s treating movement, then improving the therapeutic effect of the robot and reducing the labor intensity of the rehabilitation doctor. The mathematical model of the teaching training method was built, and the system static measurement error was analyzed and system calibration was made. Experiments results demonstrate that the system can satisfy the teaching training requirements of rehabilitation robot and provide a theoretical foundation of the key technology study of the rehabilitation robot.