下肢康复机器人结构设计与仿真分析

Design and simulation analysis of lower limb rehabilitation robot

针对下肢轻度瘫痪的患者能够自行锻炼肌肉的问题,提出了一种可穿戴式下肢康复机器人设计方案,通过机构辅助运动以实现下肢髋、膝、踝关节的训练。参考了人体下肢的基本尺寸,采用了连杆机构来模拟人体下肢;建立了人机一体化模型,并结合ADAMS仿真分析软件进行运动学仿真,得到该机器人模型下肢各主要关节的运动轨迹,再对其运动轨迹进行了分析。研究结果表明:该下肢康复机器人结构设计具有较高的可行性,能达到锻炼下肢轻度瘫痪患者肌肉的目的。

Aiming at the problem of patients with mild paralysis of lower limbs to exercise their own muscles,the lower limb rehabilitation robot which was wearable is designed,assisted by institutional movement to train the lower limb hip,knee and ankle joints. Referring to the basic dimensions of the lower limbs of the human body,a connecting rod mechanism was used to simulate the lower limbs of the human body.The man-machine integration model was established,and ADAMS simulation analysis software for kinematics simulation was comblined. So the trajectory of the main joints of the lower limb of the robot model was obtained,and then the trajectory was analyzed. The results indicate that the mechanism design of the lower limb rehabilitation robot has high feasibility and can achieve the purpose of training the muscles of patients with mild paralysis of lower limbs.