可穿戴式下肢外骨骼康复机器人运动学分析

Kinematics Analysis of Wearable Lower Limb Exoskeleton Rehabilitation Robot

本文指出外骨骼康复机器人被广泛应用于下肢运动障碍患者的辅助行走,可大大增强肢体运动功能受损患者的康复效果。通过仿生学,本文设计了一种由绳索驱动的可穿戴式下肢外骨骼康复机器人。采用D-H法,对可穿戴式下肢外骨骼康复机器人进行了运动学建模,得到了各关节之间的运动学关系。采用五次多项式插值法进行步态规划,得出了步态运动方程,并将其所得的关节角速度数据导入到ADAMS软件中,对可穿戴式下肢外骨骼康复机器人进行了运动学仿真分析。最后得出,关节角位移变化平滑、稳定,表明了所设计康复机器人具有良好的效果。

This paper points out that exoskeleton rehabilitation robot is widely used to assist walking in patients with lower limb movement disorders,which can greatly enhance the rehabilitation effect of patients with impaired limb movement function.Through bionics,a wearable lower limb exoskeleton rehabilitation robot driven by ropes is designed.The kinematics of the wearable lower limb exoskeleton rehabilitation robot is modeled by using D-H method,and the kinematic relationship between the joints is obtained.The gait motion equation is obtained by using the quintic polynomial interpolation method,and the angular velocity data is imported into ADAMS software to carry out kinematics simulation analysis of the wearable lower limb exoskeleton rehabilitation robot.Finally,it is concluded that the angular displacement of the joint is smooth and stable,which indicates that the design has a good effect.