床边下肢康复机器人结构设计与仿真分析

Structure Design and Simulation Analysis of a Bedside Lower Limb Rehabilitation Robot

为满足卧床卒中患者康复训练需求,恢复其下肢正常的运动功能。依据人机工程学,通过对人体下肢运动特点的分析,确定机器人执行方案与参数,提出了一种简单、可靠的床边下肢康复训练机器人。该机器人主要由移动小车、电动升降柱、丝杆调节组件及左、右训练机构组成,同时脚踏板上安装传感器,能实时采集患者训练过程中的信息并进行反馈。通过运动学分析,为机构的智能控制提供参考。基于下肢运动机理和机构运动,使用SolidWorks建立人机学模型并仿真分析,从仿真结果来看,人体下肢髋关节角度以及膝关节角度、角速度和角加速度等均无突变。结果表明:康复机器人具有良好的可靠性与平稳性。设计的机器人能代替治疗师工作,大幅度减少治疗师的工作量,有效缓解治疗师紧缺的社会现状。

To meet the rehabilitation training needs of bedridden stroke patients,and restore the normal motor function of their lower limbs,a simple and reliable bedside lower limb rehabilitation training robot was proposed by analyzing the characteristics of human lower limb movement and determining the robot′s execution plan and parameters according to the Ergonomics.The robot was mainly composed of a mobile trolley,an electric lifting column,a screw adjusting component and left and right training mechanism,which provide a reference for the intelligent control of the mechanism through kinematics analysis.An ergonomic model was established and simulated based on the movement mechanism of the lower limbs and the mechanism movement to obtain the angles of the hip joints of the lower limbs,the angles of the knee joints,the angular velocity and the angular acceleration.The results show that the rehabilitation robot has good reliability as well as stability.Besides,it can replace the work of therapists,greatly reduce the workload of therapists,and thus effectively relieve the social status quo of the shortage of therapists.