坐立康复机器人的双目标轨迹综合设计

Dual-objective trajectory synthesis design for sit-to-stand rehabilitation robot

针对坐立功能障碍患者的康复训练问题,本文基于人体运动曲线的轨迹综合,设计了一种符合人机耦合性的坐立康复训练机器人。通过光学动作捕捉实验,采集人体坐立运动轨迹,选择以大腿运动轨迹作为机器人的设计目标;在六杆机构模型的基础上,基于双目标轨迹发生综合法,以大腿上近髋点与近膝点的轨迹作为机构复现的双目标轨迹,进行机构数学模型的分析计算,得出该六杆机构可实现空间内多组位置的精确轨迹综合;建立机器人三维模型,对其关键部件进行静力学仿真分析以及虚拟样机的运动仿真,验证机器人设计的可行性;进行了机器人辅助坐立实验,采集膝、髋关节的运动曲线,膝、髋关节轨迹最大偏移误差分别为12%、5.8%,整体拟合程度较好,表明所设计的机器人具有较好的人机运动协同特征。

Due to the rehabilitation training problem of patients with sit-to-stand dysfunction,we designed a sit-to-stand rehabilitation training robot conforming to the human-machine coupling based on the trajectory synthesis of hu-man motion curves.Initially,through optical motion capture experiments,the human sit-to-stand motion trajectory was collected,and the thigh motion trajectory was selected as the design target of the robot.Then,based on the six-bar linkage model and the dual-objective trajectory generation synthesis method,the trajectory of the near-hip and-knee points on the thigh was taken as the dual-objective trajectory of the mechanism reproduction to analyze and cal-culate the mathematical model of the mechanism.Reportedly,the six-bar mechanism can realize the accurate trajec-tory synthesis of multiple sets of positions in space.Next,a three-dimensional model of the robot was established to analyze its key components by static simulation,as well as the motion simulation of the virtual prototype,verifying the feasibility of the robot design.Finally,the robot-assisted sit-to-stand experiment was conducted to collect the knee and hip joint motion curves.The maximum deviations of the knee and hip joint trajectories were 12%and 5.8%,re-spectively.The overall fitting degree was good,indicating that the designed robot has good human-machine motion coordination characteristics.