基于人体工学的康复机器人设计及稳定性研究

Design and Stability Research of Rehabilitation Robot Based on Ergonomics

针对康复机器人居家使用的通过性、稳定性和安全性问题,设计一种基于人体工程学理论的家用下肢康复训练机器人。通过分析脑卒中患者的运动姿态,结合康复机器人的运动特性,提出采用模块化结构的新型随动下肢康复机器人设计方案;重点对康复机器人可能产生的侧翻进行力学分析,给出康复机器人的稳定性判断准则。通过虚拟样机仿真,分析机器人的重心偏移量,并进行仿真和样机测试。结果表明:该机器人具备可靠性和稳定性,具有应用价值。

In order to solve the problems of trafficability, stability and safety of home use of rehabilitation robot, a home lower limb rehabilitation training robot based on ergonomics theory is designed. By analyzing the motion posture of stroke patients and combining with the motion characteristics of the rehabilitation robot, the design scheme of a new type of follow-up lower limb rehabilitation robot with modular structure is proposed.The mechanical analysis of the possible rollover of the rehabilitation robot is focused on, and the stability judgment criterion of the robot is given. Through the virtual prototype simulation, the offset of the center of gravity of the robot is analyzed, and the simulation and prototype test are carried out.The results show that the robot has reliability and stability, and has application value.