智能辅助行走器结构和控制研究

Study on the Structure and Control of Intelligent Training Walker

针对患者进行康复训练时需要他人辅助、占用他人时间、耗费他人体力等问题,设计一种新型智能辅助行走器。从患者能够安全、独立地进行康复训练,并在康复训练和休息代步之间存在的问题出发进行设计。利用SolidWorks针对康复训练设计训练模块,针对休息需求设计座椅折叠模块,针对代步需求设计移动模块;通过电机驱动完成训练、座椅折叠、代步等功能,并运用SolidWorks Simulation验证各结构的可靠性。针对智能辅助功能设计控制模块,监控器械位置、监测握力刹车系统;设计紧急通信模块,保障患者遇到紧急情况时的安全。该设计能满足下肢功能障碍患者实现安全、独立地康复训练,及在康复训练过程中随时根据意愿进行休息或代步的需求,弥补轮椅代步方式和外骨骼辅助行走方式的不足。

A new type of intelligent walking aid is designed to solve the practical problems such as needing assistance from others,occupying their time and consuming their physical strength during rehabilitation training.The design starts from the patients can safely and independently carry out rehabilitation training,and the problems between rehabilitation training and rest transportation.SolidWorks 3D modeling is used to design training modules for rehabilitation training,seat folding module for rest,and moving module for walking.The motor is used to drive training,seat folding,walking and other movements,and SolidWorks is used to verify the reliability of each structure.Control module is designed for intelligent auxiliary function to monitor device position and grip brake system;the emergency communication module is designed to ensure the safety of patients in emergency situations.The design can meet the needs of patients with lower limb dysfunction to achieve safe and independent rehabilitation training,and can meet the needs of patients to rest or walk at any time according to their own wishes during rehabilitation training,and make up for the shortcomings of the current wheelchair walking mode and exoskeleton assisted walking mode.