新型可穿戴上肢康复机构的设计与分析

Design and analysis of a novel wearableupper limb rehabilitation mechanism

为辅助上肢功能障碍患者进行康复训练,结合串联及并联机构优势,综合考虑人体穿戴舒适性,并基于人体上肢运动机理及参数,采用混联方法设计了一种新型可穿戴上肢康复训练机构.该机构可慢速运动带动患者手臂进行定轨迹康复训练.使用矢量环路法建立机构刚体部分的运动学模型,并对机构刚体部分进行了运动静力学分析,得到机构运动状态与所需驱动力之间的理论关系.在仿真环境Adams中开展了运动学及运动静力学仿真.最后,以一典型康复动作为例,对比其运动学、运动静力学的理论解及仿真数值解.结果表明,理论解曲线和仿真曲线走势相同,误差在合理范围内,验证了运动静力学模型的正确性.

In order to assist the rehabilitation training of patients with upper-limb dysfunction,this paper combines the advantages of series and parallel mechanisms,considers the comfort of wearing the equipment.Besides,based on the mechanism and parameters of human upper-limb movements,a new wearable upper-limb rehabilitation training mechanism is designed using a hybrid method.The mechanism could achieve low-speed movement to support the patient's arm and lead it for a fixed-track rehabilitation training.Then the vector loop method is used to establish the kinematic model of the rigid body;the kinetostatics analysis of the rigid body is performed,obtaining the theoretical relationship between the motion state and the required driving force.Kinematics and kinetostatics simulations are carried out by Adams.Finally,a typical rehabilitation exercise is taken as an example,and the theoretical and numerical solutions of the kinematics and kinetostatics analysis are compared.The results show that the theoretical curve and the simulation curve share similar trends;this verifies the correctness of the kinetostatics model.