一种新型足底驱动式康复机器人的设计与分析

Design and Analysis of A New Plantar Driven Rehabilitation Robot

针对当前下肢运动障碍患者较多,不同康复阶段的患者,康复训练需求存在差异性的现状,设计了一种运动轨迹和幅度都可以调节的足底驱动式下肢康复机器人。该机器人包括一个靠背角度、椅面高度可调的座椅和一组运动轨迹、幅度可设定的五杆运动机构,能够适用于不同身高和不同康复期的患者。首先,依据患者的下肢训练需求完成了康复机器人的结构设计;然后,建立了足底驱动式康复机器人和人体联合运动的模型,并对该模型进行了运动学正分析,从而证明所设计的足底驱动式康复机器人有实现个性化下肢康复训练的可能性;最后,分析了下肢运动轨迹,结果表明该机器人可以实现正常的步态运动。

In view of the current situation that there are many patients with lower limb movement disorders and patients at different stages of rehabilitation have different needs for rehabilitation training,a plantar driven lower limb rehabilitation robot with adjustable motion trajectory and amplitude is designed.The robot includes a seat with adjustable back angle and chair height,and a five-bar motion mechanism with adjustable motion trajectory and amplitude,which can be applied to patients of different heights and rehabilitation periods.Firstly,the structural design of the rehabilitation robot is completed according to the patient′s lower limb training requirements.Then,the joint motion model of the plantar driven rehabilitation robot and human body is established,and the kinematics of the model is analyzed,which proves that the designed plantar driven rehabilitation robot has the possibility of realizing personalized lower limb rehabilitation training.Finally,the trajectory of lower limb movement is analyzed,and the results show that the robot can achieve normal gait movement.