一种新型下肢康复机器人设计与验证试验

Design and Verification Test of a New Type Lower Limb Rehabilitation Robot

为了降低康复治疗师的工作强度,提高对偏瘫患者的康复治疗效率,研发一种基于反复促通疗法的下肢康复机器人,通过特定训练方法实现了膝关节和踝关节运动功能的恢复。反复促通疗法中,提出了一种引发肢体牵张反射和促进肢体主动运动的治疗方法。根据此疗法,设计了康复机器人的机械结构和基于力/位移控制的控制方案。通过临床试验的肌电图测量结果,证实该机器人具有引发牵张反射和助力的功能,同时初步验证其能够实现反复促通疗法的治疗效果。

In order to reduce the work intensity of rehabilitation therapists, improve the efficiency of rehabilitation treatment for hemiplegic patients, a lower limb rehabilitation robot based on the Repetitive Facilitation Exercises (RFE)was developed,which can realize the recovery of motor function of knee and ankle joint by specific training methods. In the Repetitive Facilitation Exercises, a new method is proposed to induce limb stretch reflex and promote limb active movement. According to this therapy, the mechanical structure of the rehabilitation robot and the control scheme based on Force/Displacement Control were designed. The results of EMG in the clinical trial confirmed the robot has the function of inducing stretch reflexes and power assistance, as well as preliminarily verified that it can realize the therapeutic effect of the Repetitive Facilitation Exercises.