柔索驱动并联腰部康复机器人设计、分析与试验研究

Design, Analysis and Experimental Study of a Cable-driven Parallel Waist Rehabilitation Robot

腰部损伤患者众多而康复师和智能化康复设备短缺,为了帮助患者恢复腰部运动能力,设计一种新型柔索驱动并联腰部康复机器人(Cable-driven parallel waist rehabilitation robot,CPWRR)。机器人由柔索驱动并联平台、下肢外骨骼和上肢固定机构组成,实现患者腰椎三自由度转动康复训练。考虑人体下肢与运动平台的运动耦合,力学分析过程引入两组辅助坐标系建立机器人的运动学模型,并运用拉格朗日法建立机器人的动力学模型。以人体腰部转动康复训练为实例,规划腰部运动轨迹,进行CPWRR康复训练数值模拟;同时,搭建CPWRR试验平台,进行康复训练试验。对比数值模拟和试验结果,柔索长度和拉力的数值模拟结果与试验数据相吻合,腰部的实际运动轨迹与预定的运动轨迹基本相同,表明CPWRR能够完成腰部康复训练,是一种前景良好的腰部康复设备,试验数据对柔性智能化医疗康复设备具有参考意义。

The supply of traditional rehabilitation equipments cannot satisfy the need of more and more waist injury patients. A new cable-driven parallel waist rehabilitation robot(CPWRR) is designed to help the patients recover movement ability of the waist. The robot, consisting of a cable-driven parallel platform, a lower extremity exoskeleton and a fixing device of the upper limb, could perform some rehabilitation training of the lumbar 3-DOF rotation. Considering the coupling motion between the lower extremity and motion platform, the kinematic model is set up by introducing two set of coordinate system when the mechanical analysis of the CPWRR is carried on. By using the Lagrange’s equation, the dynamic model is established. The trajectory planning of the waist is performed illustrated by the case of the rehabilitation training of waist rotation. Then numerical simulation is carried on. And the laboratorial platform of the CPWRR is also built to do some rehabilitation training. The contrast experiment results show that the numerical simulation of the cable length and force basically coincide with the experimental data and the actual motion trajectory of the waist is almost identical to the predetermined. This work has a reference value for flexible intelligent medical rehabilitation devices and proves that the CPWRR could achieve the waist rehabilitation training and is promising waist rehabilitation devices.