全向移动康复机器人设计与研究

Design and Research of an Omni-directional Mobile Rehabilitation Robot

下肢运动障碍患者和失能、半失能老人在日常生活和康复训练过程中,通过有效的物理刺激手段和针对性的康复训练可以恢复部分或全部的运动功能。因此设计了一种新型的全向移动康复机器人,通过全向移动底盘实现地面移动跟随,通过减重模组实现患者的减重支撑,通过柔性骨盆机构实现患者的扶持和部分骨盆运动自由度。首先介绍了全向移动康复机器人的机械机构和运动模式,其次介绍了机器人的电气组成和工作原理,建立了基于人机交互信息的控制模型。

During the ADL and rehabilitation training of people with dyskinesia and elders,partial motor functions can be restored via efficient rehabilitation training and external physical stimulation.Thus,the omni-directional mobile rehabilitation robot is designed to implement the assisted walking,the omni-directional mobile platform is capable of accompany movement,the linear motion module is capable of body weight support and the flexible pelvic mechanism can realize part of the pelvic motions.This paper introduces the structural composition of rehabilitation robot,and then introduces the electrical components and operating principle of the robot,additionally,the motion controlling model is built based on the human–machine interaction signals.