脑卒中患者下肢外骨骼康复机器人步态规划与运动学仿真

Gait Planning and Kinematics Simulation of Lower Extremity Exoskeleton Rehabilitation Robot for Stroke Patients

为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center of Gravity,重心地面投影点)作为步态规划中的稳定性判断依据,并用Robotics Toolbox for Matlab仿真,结果表明:下肢外骨骼康复机器人在康复训练过程中各关节具有连续且稳定的步态轨迹,为后续脑卒中患者使用的下肢外骨骼康复机器人样机研制提供了必要的理论依据。

In order to meet the needs of more and more stroke patients for assisted walking and rehabilitation training,a lower extremity exoskeleton robot model was designed.The coordinate systems of ankle,knee and hip were established by using D-H parameter method,and the coordinate equations within the gait cycle were derived.To be on the safe side,for cerebral apoplexy patients walk slowly and step length,use of CoG(Center of Gravity,Center of Gravity on the ground projection point)in the planning of the gait stability of judgment,and Robotics,Toolbox for Matlab simulation,the results show that the exoskeleton of lower limb rehabilitation robot in the process of rehabilitation training with continuous and stable gait trajectory,each joint for subsequent recovery of stroke patients with lower limb exoskeleton robot prototype to provide necessary theoretical basis.