[1]杨昆才,张小栋,张强,等.下肢康复训练机器人的设计开发[J].机械与电子,2018,(03):55-60.
　YANG Kuncai,ZHANG Xiaodong,ZHANG Qiang,et al.Design of Rehabilitation Training Robot for Lower Limb of Human Body[J].Machinery & Electronics,2018,(03):55-60.
点击复制

下肢康复训练机器人的设计开发
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年03期
页码:
55-60
栏目:
智能工程
出版日期:
2018-03-24

文章信息/Info

Title:
Design of Rehabilitation Training Robot for Lower Limb of Human Body
文章编号:
1001-2257(2018)03-0055-06
作者:
杨昆才1; 张小栋1; 2; 张强1; 尹贵1; 樊琛1
(1.西安交通大学机械工程学院,陕西 西安 710049; 2.西安交通大学现代设计及转子轴承系统教育部重点试验室,陕西 西安 710049)
Author(s):
YANG Kuncai1;  ZHANG Xiaodong1; 2;  ZHANG Qiang1;  YIN Gui1;  FAN Chen1
(1.School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China; 2.Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi'an Jiaotong University, Xi'an 710049, China)
关键词:
下肢康复机器人;  协调控制;  轨迹跟踪;  步态训练
Keywords:
lower limb rehabilitation robot;  coordinated control;  trajectory tracking;  gait training
分类号:
TP242
文献标志码:
A
摘要:
针对当前下肢运动障碍患者众多,而国内传统康复训练设备机械结构复杂、穿戴适应性差、步态训练人机运动精度低和协调性弱等问题,在深入分析了现有康复设备存在不足的基础上,设计开发了下肢康复训练机器人。该机器人的外骨骼机械腿采用曲柄滑块方式驱动关节运动,可自由调节机械腿长度与两腿宽度,再搭配跑步机与减重机构共同组成了机器人的机械部分。同时,该机器人集成了外骨骼腿和跑步机的控制系统,并应用提出的外骨骼腿的位置控制以及与跑步机速度的协同控制方法。最后,在实验室搭建了所设计的下肢康复训练机器人系统,并进行了人体带载实验。结果表明,该康复训练机器人对不同尺寸人体具有很强的穿戴适应性,同时具有精确的轨迹跟踪能力,以及良好的协调运动控制稳定性。
Abstract:
In view of the actuality that many patients have lower limb movement disorders, and domestic traditional rehabilitation training devices are of complicated mechanical structure, poor wear adaptability, poor human-machine compatibility, and low precision during gait training, this paper proposes the design of a lower limb rehabilitation training robot. The mechanical exoskeleton legs of the robot adopt the crank-slider method to drive the joint movement, and the length of the leg and the width between two legs can be adjusted freely by the mechanical parts of the robot, which also consisted of the treadmill and the weight-reducing mechanism. Meanwhile, the robot integrates the control system of exoskeleton legs and treadmill to control the position of exoskeleton legs and the velocity of the treadmill in a coordinated way. To examine the efficiency, the lower limb rehabilitation training robot system was set up in the laboratory and the experiment with human body on load was carried out. The results show that the rehabilitation robot is highly adaptable to different sizes of human body, and has accurate trajectory tracking ability as well as sound stability in coordinated motion control.

参考文献/References:

[1]张通. 中国脑卒中康复治疗指南(2011完全版)[J].中国康复理论与实践,2012,18(4):301-318.
[2]Low K H.Recent development and trends of clinical-based gait rehabilitation robots[M]//Intelligent Assistive Robots:Recent Advances in Assistive Robotics for Everyday Activities.Switzerland:Springer International Publishing,2015:41-75.
[3]Dzahir M A M,Yamamoto S.Recent trends in lower-limb robotic rehabilitation orthosis: control scheme and strategy for pneumatic muscle actuated gait trainers[J].Robotics,2014,3(2):120-148
[4]宋遒志,王晓光,王鑫,等.多关节外骨骼助力机器人发展现状及关键技术分析[J].兵工学报,2016,37(1):172-185.
[5]Riener R,Lünenburger L,Maier I C,et al.Locomotor training in subjects with sensori-motor deficits:an overview of the robotic gait orthosis Lokomat[J]. Journal of Healthcare Engineering, 2010, 1(2):197-216.
[6]Zhang Q,Zhang X D,Yin G,et al.Design on subsection based mix position controller for lower limb rehabilitation robot[C]//International Conference on Ubiquitous Robots and Ambient Intelligence, 2017:720-724.
[7]张佳帆,陈鹰,杨灿军.柔性外骨骼人机智能系统[M].北京:科学出版社, 2011.
[8]李峰,吴智政,钱晋武.下肢康复机器人步态轨迹自适应控制[J].仪器仪表报,2014,35(9):2027-2036.
[9]郑午.人因工程设计[M].北京:化学工业出版社,2006.

相似文献/References:

[1]赵世标,徐林森,姜祖辉,等.仿人手接线机器人运动控制研究[J].机械与电子,2015,(02):60.
　ZHAO Shibiao,XU Linsen,JIANG Zuhui,et al.Motion Control Research of Humanoid Hand Spun Yarn Connection Robot[J].Machinery & Electronics,2015,(03):60.

备注/Memo

备注/Memo:
收稿日期：2017-12-13
基金项目：2016年陕西省科技统筹创新工程计划资助项目 (2016KTZDGY06-06);国家高技术研究发展计划 (“八六三”计划) 资助项目 (2015AA042301)
作者简介：杨昆才（1993-），男，山东泰安人，硕士研究生，研究方向为下肢康复机器人技术；张小栋（1967-），男，陕西周至人，教授，博士研究生导师，研究方向为智能检测、诊断与控制以及智能机器人技术等。
更新日期/Last Update: 2018-03-24