空间运动康复训练设备设计及运动仿真

Design and motion simulation of space movement rehabilitation training equipment

针对脑卒中患者提出了一种依照人机工程学设计的空间运动康复训练设备。首先对康复训练设备进行了正运动学分析,并在MATLAB中描绘出空间运动云图。然后根据患者在日常生活中的基本动作,分别对上肢和下肢进行了各运动关节轨迹规划,绘制了各个关节在不同运动轨迹中的角速度、角加速度变化曲线和相应的轨迹曲线。该康复设备的创新点在于结合上下肢运动特性,与针对单一上肢或下肢进行训练的设备相比,扩大了运动范围,增加了运动自由度,结构更加简单易安装。

It presents a space motion rehabilitation training equipment designed according to ergonomics.The forward kinematics analysis of rehabilitation training equipment is carried out,and the spatial motion cloud map is described in MATLAB.According to the basic movements of patients in daily life,the trajectory planning of each motion joint of upper and lower limbs is carried out respectively,and the curves of angular velocity and angular acceleration of each joint in different motion trajectories and corresponding trajectory curves are drawn respectively.The innovation of this paper lies in the rehabilitation equipment combined with the motion characteristics of upper and lower limbs.Compared with the training equipment for single upper or lower limbs,it expands the range of motion,increases the degree of freedom of movement,and has a simpler structure and is easy to install.