基于人机适应的下肢康复训练器人机建模与受力分析  

HAM-based Modeling and Mechanics Analysis of the Man-machine for Lower Limb Rehabilitation Training Apparatus

作　　者：袁林[1] 甄红卫[2] 史小华[1] 侯慧娜[1] 王洪波[1] 

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]北京星航机电设备厂,北京100074

出　　处：《机械科学与技术》2014年第2期243-248,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：河北省自然科学基金项目(F2011203133);国家科技支撑计划项目(2012BAI33B00);河北省高层次人才项目;教育部博士点基金项目(20131333110006)资助

摘　　要：从下肢康复患者的需要和节约成本出发,设计了一种人机融合性好、机械结构简单,具备功能性电刺激接口的脚踏车式下肢康复训练器。该训练系统能针对不同损伤程度的下肢残障者提供被动、主动、抗阻3种康复训练模式。根据人机适应(human adaptive mechatronics,HAM)概念中在约束环境下对人机建模的思路进行动力学研究,在结合人体下肢运动机理的基础上提出了一种平面闭环铰链五连杆刚体模型,介绍了康复设备的结构,对主动踏车运转过程中踝关节的运动进行了分析和优化,基于平面闭环铰链五连杆分析了抗阻训练时人机系统的静力学,建立了数学模型。根据人体下肢模型建立了虚拟样机,并进行了动力学仿真,验证了前述分析的正确性。Abstract： In order to meet the requirement of patient with lower limb rehabilitation and reduce the cost, a lower limb rehabilitation training apparatus which has good manmachine fusion and simple mechanical structure is pres ented. The apparatus can provide passive training, active training, resistance training and functional electrical stim ulation training, and then that can meet the requirement of patients with different degrees of damage and disabili ties. A rigid link model for lower limb is proposed on the basis of the analysis for lower limb movement. Meanwhile, the human lower limbs and the rehabilitation training apparatus are considered as a whole and a manmachine model with plane closedloop hinges is abstracted based on the HAM（ Human Adaptive Mechatronics）theory. The statics of the manmachine model is analyzed and the statics mathematical models are established when the patient taking re sistance training. The virtual prototype of the manmachine model is built and the statics simulation is performed, the results verified the correctness of the previous analysis.

关 键 词：HAM 下肢康复训练器 人机模型 静力学 动力学仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]