基于人体坐立转换运动规律的三自由度站立康复机器人设计

Research on the design method of sit-to-stand assistance robot based on the motion law of human sit-to-stand conversion

目的:探究以何种方式设计站立康复辅具,降低因人机匹配度差导致的固化姿态形成几率。方法:选取30例成年健康男性受试者,捕捉其坐立转换时肩峰、大转子隆起处、外侧髂隆起处的运动轨迹和运动特征。提出了三自由度串联机械臂设计方案。结果:根据受试者的运动特征将坐立转换过程分成了四个阶段。根据不同受试者的人体参数,推荐了三条大转子轨迹,设计了三自由度站立康复机器人。结论:站立康复辅具应以大转子位置为辅助支撑点为佳,小腿的自由度不应被限制,配合控制躯干倾角,以保证与自然状态下的站立过程较高的相似度。站立康复辅具能够根据不同人体参数调整坐立转换的运动轨迹,避免人机融合性差导致错误的固化姿态。

Objective:To explore how to design sit-to-stand assistance robot to reduce the probability of curing posture formation caused by poor man-machine corperation.Method:Firstly,30 healthy adult male subjects were selected to capture the trajectory and movement characteristics of acromion, trochanter and lateral iliac eminence on the sagittal plane during sit-to-stand transition.Secondly,the design scheme of three-degree-of-freedom serial manipulator was proposed. The workspace and kinematics of the designed manipulator were analyzed by Monte Carlo algorithm and complex vector equation method.Result:According to the motion characteristics of the subjects, the sitting to standing transition process was divided into four stages. According to the human parameters of different subjects, three large rotor trajectories were recommended and three-degree-of-freedom sit-to-stand assistance robot was designed.Conclusion:The position of the hip should be the best supporting point for sit-to-stand assistance robot, and the freedom of the lower leg should not be limited. The angle of the trunk should be controlled to ensure a high similarity with the standing process in the natural state. Sit-to-stand assistance robot can adjust the movement track of sitting and standing conversion according to different human body parameters, so as to avoid the wrong curing posture caused by poor human-computer integration.