三自由度前臂康复外骨骼机构设计与轨迹规划

Design and Trajectory Planning of a 3-DoF Forearm Rehabilitation Exoskeleton

为满足当前脑卒中后遗症患者在康复训练中对前臂康复的需求,以及保证患者在康复训练过程中的舒适性和安全性,设计一种三自由度前臂康复外骨骼,为满足康复运动转矩需求以及更好的控制效果,关节驱动机构采用行星齿轮减速和绞盘减速两级减速方式;针对腕部训练的协同性问题,运用平行四边形机构原理设计其腕部关节;整体结构利用SolidWorks进行三维建模。将整体模型简化为三连杆模型后通过D-H法对其建立运动学模型,通过MATLAB验证了模型的正确性。最后,为了提高脑卒中后遗症患者进行康复训练时的安全性和舒适性,基于五次多项式插值法对其进行轨迹规划,并且使用MATLAB进行仿真分析,得到各关节的运动速度、加速度的均匀平滑曲线,验证了外骨骼结构的合理性与运动的舒适性,为之后基于多种康复模式的程序设计提供了基础。

To meet the needs of post-stroke patients for forearm rehabilitation in current rehabilitation training,as well as to ensure the comfort and safety of patients during the rehabilitation process,a 3-DoF forearm rehabilitation exoskeleton is designed.In order to meet the torque requirements for rehabilitation movement and achieve better control effects,the joint driving mechanism adopts two-stage reduction with planetary gear reduction and winch reduction.To address the coordination issues in wrist training,the wrist joint is designed using the principle of a parallelogram mechanism.The overall structure is modeled in 3D using SolidWorks.The simplified three-link model is established using the D-H method for kinematic modeling,and its correctness is verified using MATLAB.Lastly,to improve the safety and comfort of post-stroke patients during rehabilitation training,trajectory planning is conducted based on fifth-order polynomial interpolation,and MATLAB is used for simulation analysis to obtain uniformly smooth curves of motion speed and acceleration for each joint.This verifies the rationality of the exoskeleton structure and the comfort of motion,laying the foundation for subsequent program design based on various rehabilitation modes.