助行机器人起坐机构运动分析及实验  

Motion Analysis and Experiments on the Standing-Up Mechanism of Walking Assistance Robot

作　　者：白大鹏[1] 张立勋[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机器人》2013年第6期757-761,共5页Robot

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

摘　　要：为帮助下肢功能障碍患者实现正常的站起运动,设计了多功能助行机器人的起坐机构,该机构的运动控制仅使用了单个驱动元件.利用由关节转角测量系统、节拍器及dSPACE半物理仿真平台组成的信息测量系统,获取正常人站起过程中髋、膝、踝关节的运动信息.在这一基础上,利用SimMechanics对人体站起过程进行了运动学仿真分析,并模拟臀部的运动规律设计了起坐机构末端的运动.在助行机器人样机的帮助下,真人实验中的受试者能够完成从坐姿到站姿的转换.The standing-up mechanism of a multifunction walking assistance robot is developed to help the patients with lower limb diseases to stand-up normally, and only one actuator is used for motion control. The normal people＇s standing-up kinematics of hip, knee, ankle joints are obtained by an information measurement system, which is composed of a joint angle measuring system, a metronome and the dSPACE semi-physical simulation platform. Based on that information, the kinematic simulation of normal people＇s standing-up is analyzed by SimMechanics. By immigrating the hip＇s motion, the motion of the end-effector of the standing-up mechanism is designed. In human experiment, volunteers can stand up from sitting with the help of the prototype of walking assistance robot.

关 键 词：起坐机构 协调运动 站起训练 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]