多用途下肢康复外骨骼结构设计与实验

STRUCTURE DESIGN AND EXPERIMENT OF MULTIPURPOSE LOWER LIMB REHABILITATION EXOSKELETON

为有效解决由于脊柱损伤、脑损伤、脑血管疾病及骨关节手术所导致的人体下肢运动功能障碍,提出了一种多用途可拆卸下肢康复外骨骼设计方案,设计了基于扭矩传感器的力感知高集成助力关节,在腿部泛型尺寸结构设计的基础上,提出了一种基于螺纹传动的双向同步快调机构,实现了单手徒手快速调节外骨骼腿部长度的功能。基于外骨骼运动平衡安全性及广泛适用性等问题的考虑,将下肢康复外骨骼与可升降移动护架有机结合,提出了下肢康复外骨骼整体结构及可升降移动护架结构,既保证了外骨骼运动过程中的平衡安全性,又同时适用于轻度、中度、重度等不同程度的下肢运动功能障碍患者。为合理规划下肢康复外骨骼运动步态,进行了平地、上坡、下坡、上楼梯、下楼梯等步态数据的采集及处理,搭建了控制系统。为了验证理论研究成果,加工了实验样机,并进行了相关实验验证。实验结果表明:扭矩传感器具有较高的实时性及准确性,外骨骼具有广泛适应性,结合移动护架可为患者提供有效的减重环境,外骨骼可实现起立、坐下、平地行走、上下斜坡及上下楼梯等功能。

In order to effectively solve the motor dysfunction of lower limbs caused by spinal injury,brain injury,cerebrovascular disease and orthopaedic surgery,a multi-purpose detachable exoskeleton design scheme for lower limb rehabilitation was proposed.A high integrated force-assisted joint with force-sensing based on torque sensor was designed.Based on the design of generic size structure of legs,a two-way synchronous fast adjusting mechanism with threaded transmission was proposed to realize the function of fast adjusting the length of exoskeleton leg with one hand.Considering the movement balance safety and wide applicability of exoskeleton,the lower limb rehabilitation exoskeleton was combined with the liftable mobile protector organically.The whole structure of the lower limb rehabilitation exoskeleton and the liftable mobile protector frame were put forward,which ensured the balance safety in the process of exoskeleton movement,and was also suitable for the patients with different degrees of lower limb movement dysfunction,such as mild,moderate and severe patients with dysfunction.In order to rationally plan the gait of lower limb rehabilitation exoskeleton movement,gait data of leveling,ascending,descending,ascending and descending stairs was collected and processed.The control system was established.In order to verify the theoretical research results,a experimental prototype was processed,and relevant experimental verifications were carried out.The experimental results show that the torque sensor has high real-time and accuracy,and the exoskeleton has a wide range of adaptability.Combined with the mobile protector frame,it can provide an effective weight reduction for patients.The exoskeleton can achieve the functions of standing up,sitting down,walking on the ground,climbing and descending the slope and stairs.