自调节式手腕康复外骨骼机构设计与相容性分析

Design and compatibility analysis of self-adjusting wrist rehabilitation exoskeleton mechanism

针对在设计手腕康复外骨骼机构过程中的机构构型问题,参照人体腕关节运动学属性,采用高等空间机构学理论对康复外骨骼机构进行了构型设计,并通过力学分析遴选出了3R PPR型自调节式手腕康复外骨骼机构。该机构通过在人机接触面处引入2个被动移动副与1个被动转动副,缓解了康复运动中产生的人体轴向与训练无关的约束力与力矩,从而实现了人机相容性;同时,采用人机闭链运动学建立了约束方程,使用MATLAB计算,并表示出了人体腕关节与康复机构各被动关节位置的对应关系;最后,对该机构进行了人机相容性分析。研究结果表明:引入的2个被动移动副与1个被动转动副的运动幅度均较大,有效缓解手腕康复训练中人机接触处产生的人体轴向与训练无关的约束力与力矩,该康复外骨骼机构满足人体腕关节康复的需求。

Aiming at the problem of mechanism configuration in the process of designing wrist rehabilitation exoskeleton mechanism,referring to the kinematic properties of the human wrist joint,the 3R PPR self-adjusting wrist rehabilitation exoskeleton mechanism was selected by mechanical analysis and the advanced space mechanism theory was used to design the configuration of the rehabilitation exoskeleton mechanism.By introducing two passive moving pairs and one passive rotating pair at the human-machine contact surface,the mechanism can alleviate the constraint forces and torques which were generated along the axis of the human body and were irrelevant to the training during the rehabilitation exercise,thus the human-machine compatibility was achieved.Human-machine closed-chain kinematics was used to establish the constraint equation,and the position relationship between the human wrist and the passive joint movements of the mechanism was calculated and expressed by using MATLAB.The results indicate that the introduced two passive moving pairs and one passive rotating pair have larger motion amplitudes,effectively alleviate the forces and moments that are irrelevant to the training along the human axis in the human-machine contact during wrist rehabilitation training,and the designed exoskeleton rehabilitation mechanism can meet the needs of human wrist joint rehabilitation.