人体下肢康复装置的结构设计及运动学分析

Structural Design and Kinematics Analysis of a Human Lower Limb Rehabilitation Device

介绍了一种基于平面五杆机构的人体下肢康复装置,旨在满足术后卧床的卒中患者的早、中、后期的下肢康复训练需求。该装置具有简单可靠的特点,可以在床尾侧放置或随患者行走移动。装置主要由下部移动平台、手动升降组件、上部动力传动机构及左、右训练机构组成,并在踝、膝关节通用的关节支架上附有传感器,患者的运动信息可以被实时采集和反馈。运动学分析及Adams软件仿真结果表明,调整该装置双曲柄的初始相位,可以改变关节点的运动轨迹,得到不同运动模式下人体下肢关节运动的范围,达到卧式训练及行走训练的目的,从而满足患者不同康复阶段的训练需求。

A human lower limb rehabilitation device based on a planar five-bar mechanism was introduced,aiming at meeting the early,mid and late rehabilitation training needs of stroke patients who are bedridden after surgery.This device has the characteristics of simplicity and reliability,and can be placed at the end of the bed or moved with the patient's walking.The device mainly consists of a lower mobile platform,a manual lifting component,an upper power transmission mechanism,and left and right training mechanisms.Sensors were attached to the universal joint brackets of the ankle and knee joints,allowing real-time collection and feedback of the patient motion information.Through kinematics analysis and Adams software simulation,the results show that adjusting the initial phase of the double crank of the device can change the motion track of the joint points,thus obtaining the range of motion of human lower limb joints under different motion modes,achieving the purpose of horizontal training and walking training,and meeting the training needs of patients in different rehabilitation stages.