一种新型双侧腕关节训练康复机构的研制

Development of a New Type of Rehabilitation Mechanism for Bilateral Wrist Joint Training

设计双侧腕关节训练康复机构以满足双侧被动训练比单侧主动训练效果好的需求。康复机构采用两个空间反向双曲柄并联子机构,根据子机构采用绳索拉伸驱动的特性,研制出一款通过绳索不同的配置以实现左右侧平台成镜像对称的机构;采用球坐标系分析机构的正运动学,得到双侧平台的运动关系式;研制试验样机,对双侧平台横滚、俯仰和虚拟偏航运动的欧拉角进行测量,测量了在3种运动方式下前肌群和后肌群在静息态、单侧被动训练和双侧主动训练的肌电信号。实验数据表明,当机构做横滚运动时,双侧平台角位移大小相等、方向相反;当机构做俯仰运动时,双侧平台角位移大小和方向均相同。双侧主动训练测量的前肌群和后肌群肌电信号(EMG)最大平均值比静息态分别大319.65 mV和352.2 mV,比单侧被动训练分别大155.9 mV和184 mV。上述结果表明,所研制的双侧机构成镜像对称,能够对腕关节起到训练的效果,并且训练效果优于单侧训练。

A bilateral wrist joint training and rehabilitation mechanism is designed to meet the require⁃ments of bilateral passive training better than unilateral active training.The rehabilitation mechanism adopts two spatial reverse double crank parallel sub mechanisms.The forward kinematics of the mechanism is analyzed in the spherical coordinate system,and the motion relationship of the two platforms is obtained.The Euler angles of the rolling,pitching and virtual yaw motions of the two platforms are measured,and the front and back muscles are measured simultaneously in the three motion modes.The experimental data shows that when the mechanism is rolling,the angular displacements of both platforms are equal in magnitude and opposite in direction,while the mechanism is pitching,the angular displacements of both platforms are the same in magnitude and direction.The maximum and average electromyography(EMG)values of anterior and posterior muscles measured during the bilateral active training are 319.65 mV and 352.2 mV higher than those measured during the resting state,and 155.9 mV and 184 mV higher than those measured during the unilateral passive training,respectively.The above results show that the developed bilateral training machine has mirror symmetry,can play a training effect on the wrist joint,and the training effect is better than that of the unilateral training.