人体下肢康复训练机器人及其造型设计

A Rehabilitation Robot and Its Industrial Design for Human Lower Limb Training

为帮助中风后的病人、下肢运动功能弱的老年人、事故或灾难造成的人体下肢运动障碍等的人群进行行走能力的恢复,设计了一种针对人体下肢运动功能恢复的康复训练机器人,解决了智能康复辅具的不足问题.该康复训练机器人由机构、控制系统和安全系统构成,并集成了多种传感器,可实时伴随训练人士,通过人机交互系统实现自动向前、左右转弯和防摔倒等功能.实验表明该系统操作简单,可靠性高.开发了两代下肢康复训练机器人,第一代康复训练机器人已在医院得到了初步应用.对文中讨论的第二代康复训练机器人在造型和局部功能方面进行改进,给出了康复训练机器人的造型设计方案.

A rehabilitation training robot was proposed to focus on the recovery of human lower limbs function, including the recovery of walking ability of stroke rehabilitation patients, elderly person with weak motor function of lower limbs, people with lower limbs dyskinesia caused by accidents or disasters, and so on, so as to solve the shortage of intelligent rehabilitation aids. Consisting of mechanism, control system, and safety system, the robot was also integrated with various sensors. The training people with the real-time accompany of these sensors and the human-machine interaction system was attempted to achieve the functions of real- time automatically forward, left and right turning, anti-falling, and so on. Experiment results show that the system is simple and reliable. Two generations of lower limb rehabilitation training robots had been developed, the first generation had been applied in the hospital for preliminary application. In this paper, the second generation of rehabilitation training robot was improved in shape and partial function, and the design scheme of the robot was put forward, laying the technique foundation for further promotion of rehabilitation robot in the field of rehabilitation medicine.