基于电机-磁流变阻尼器混合驱动的绳索牵引上肢康复机器人的设计与应用

Design and Application of a Cable-Driven Upper Limb Rehabilitation Robot of a Hybrid Drive System Based on Motor and Magnetorheological Damper

传统的末端牵引康复机器人一般使用电机驱动,连杆传动,难以避免惯性和刚性器件对系统动态性能的影响。针对以上问题,研制了一种基于混合驱动的绳索牵引式上肢康复机器人系统。系统采用绳索牵引末端的方式驱动机器人运动,实现在大工作空间内的柔顺操作。设计了具有低惯性特性的电机-磁流变阻尼器混合驱动系统,以替代传统的电机驱动。结合动作捕捉系统,设计了被动和镜像两种训练模式,以实现脑卒中患者的上肢康复训练。实验证明,混合驱动系统可输出3.5 N·m的转矩;被动训练模式中,机器人在600×500×350 mm的工作空间内,轨迹跟踪误差小于8 mm;镜像训练模式中,轨迹平均跟踪误差为6.34 mm。结果表明,系统的驱动方法和训练模式安全有效。

The traditional end-traction rehabilitation robot is usually driven by motor and linkage mechanism,so it is difficult to avoid the influence of inertia and rigid components on the dynamic performance of the system.To solve the above problems,a cable-driven upper limb rehabilitation robot system based on hybrid drive is developed.To achieve flexible operation in a large workspace,the cable is used to pull the end-effector to complete the movement.The hybrid drive system based on motor and magnetorheological(MR)damper which has low inertia is designed to replace motor drive.Combined with motion capture system,passive and mirror training modes are designed to achieve upper limb rehabilitation training for stroke patients.Experimental results show that the hybrid drive system can provide 3.5 N·m torque output.In the passive training mode,the robot trajectory tracking error is less than 8 mm in the working space of 600×500×350 mm.In the mirror training mode,the average tracking error is 6.34 mm.These results show that the driving method and training mode of the system are safe and effective.