踏板式步行康复机器人样机研制与实验研究  

Prototype development and experimental study of a footpad-type walking rehabilitation robot

作　　者：张立勋[1,2] 秦涛 宋承盈 程胜 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]昆山市工业技术研究院智能机器人工程研究所,昆山215347

出　　处：《高技术通讯》2013年第9期939-945,共7页Chinese High Technology Letters

基　　金：863计划(2008AA040203);国家自然科学基金(61175128)资助项目

摘　　要：为了帮助有下肢功能障碍的患者尽快恢复运动能力,辅助患者进行步行康复训练,研制了一种踏板式步行康复机器人样机。该机器人包括两套对称的步行康复机构,每套步行康复机构采用一个驱动电机驱动患者足底实现人正常行走时的步态模拟,同时带动患者下肢关节进行运动康复。在不增加驱动元件的前提下,利用机械约束实现跖趾关节的康复训练。建立了步行康复机构的运动学模型,利用Matlab/Simulink进行了仿真分析,得到机器人带动患者训练时的步态轨迹和一个步态周期内的足底转角及跖趾关节的转角,验证了样机设计的可行性和合理性,并基于Quanser半物理仿真平台对机器人样机进行实验验证。仿真和实验结果初步说明该机器人能满足下肢功能障碍患者的康复要求,为进一步的实验研究奠定了基础。help the patients with lower limb dysfunction achieve normal walking function, and aid them with walk rehabilitation, a prototypical footpad-type walking rehabilitation robot was developed. The robot consists of two sets of symmetrical walking rehabilitation mechanism, and each w tar to simulate the normal walking gait by using a drive alking rehabilitation mechanism can drive patients＇ plan- motor, and take patients＇ lower limbs joints to exercise training. The rehabilitation training of the metatarsophalangeal joint was realized by using some mechanical con- straint without adding a driving element. The kinematic model of the walking rehabilitation mechanism was deduced and established. The gait trajectory, the plantar angle and the metatarsophalangeal joint angle in a gait cycle were obtained with Matlab/Simulink, which verified the feasibility and rationality of the prototype design. Furthermore, an experiment was made on the robot prototype based on the hardware-in-the-loop simulation platform of Quanser. The preliminary simulation and experimental results show that this robot can meet the requirements of the patients with lower limb dysfunction and provide the base for further experimental study.

关 键 词：踏板 康复机器人 步态 跖趾关节 运动分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]