一种可供踝关节康复训练的智能轮椅设计

Design of Intelligent Wheelchair for Ankle Joint Rehabilitation Training

目的 针对目前下肢康复训练设备适配性、训练效果不佳的现状,设计一种可供手术患者、脑血栓患者及下肢残疾人士踝关节康复的智能辅助轮椅。方法 通过对人体踝关节结构和运动特性进行分析,设计踝关节康复机构的整体结构,搭配STM32F103单片机设计控制电路;基于CATIA软件建立三维模型,结合Adams仿真软件搭建平台进行动力学分析;利用ANSYS软件,对辅助轮椅核心零件进行静力学分析,验证结构设计的可行性;选型、装配并搭建实物样机,对实体样机的各项功能与实际性能进行测试。结果 通过仿真分析,踝关节康复机构符合设计标准。实际踝关节纵向可翻转角度为-24.6°~13.5°,横向翻转角度为-19.6°~19.5°,踝关节翻折速度为5.8~6.7°/s,踝关节扭动速度约为7.6°/s,踝关节翻折运动扭矩约为20 N·m,外展运动所需扭矩约为17.2 N·m。结论 该踝关节康复智能辅助轮椅可实现行走、升降、智能辅助等功能。通过仿真分析及实验测试,轮椅的各项功能均可实现,各项参数指标均符合设计标准,验证了多功能踝关节康复轮椅设计的安全性与合理性。

Objective In view of the current situation of poor adaptability and training effect of lower limb rehabilitation training equipment,to design an intelligent assisted wheelchair for ankle joint rehabilitation of surgical patients,cerebral thrombus patients and people with lower limb disabilities.Methods Through the analysis of the human ankle joint structure and movement characteristics,the overall structure of the ankle joint rehabilitation mechanism was designed,and the control circuit was designed with STM32F103 single chip microcomputer.The three-dimensional model was established based on CATIA software,and the dynamic analysis was carried out on the platform combined with Adams simulation software.The static analysis of the core parts of the assisted wheelchair was carried out with ANSYS software to verify the feasibility of the structural design.The physical prototype was selected,assembled and built,and the functions and actual performance of the physical prototype was tested.Results Through simulation analysis,the ankle joint rehabilitation mechanism met the design standard.The actual longitudinal rotation angle of the ankle was-24.6°-13.5°,the transverse rotation angle was-19.6°-19.5°,the rotation speed of the ankle was 5.8-6.7°/s,the rotation speed of the ankle was about 7.6°/s,and torque of the ankle joint folding movement was about 20 N·m.The torque required for the abduction movement was approximately 17.2 N·m.Conclusion The intelligent assisted wheelchair for ankle joint rehabilitation can meet the walking,lifting,intelligent assistance and other functions.Through simulation analysis and experimental tests,all the functions of the wheelchair can be realized,and the parameters meet the design standards,which verifies the safety and rationality of the design of the multi-functional ankle rehabilitation wheelchair.