下肢液压驱动康复机器人机械设计与运动学研究  

Mechanical Design and Research for Lower Exoskeleton Rehabilitation Hydraulic-driven Robot

作　　者：唐志勇[1] 徐晓东[1] 熊珏 刘棣斐[1] 裴忠才[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《液压与气动》2014年第12期31-35,共5页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51075017)

摘　　要：根据患有脑卒中等病症的病人的康复机理,设计了一个由液压驱动的外骨骼式康复机器人。该机器人每个下肢具有2个自由度,并且具有悬吊减重,机器人大腿长度调节,下肢高度调节等装置.能够满足不同身高,不同体重的患者使用。驱动方式为液压驱动,采用阀控非对称缸带动患者腿部运动,并且根据CGA曲线对标准步态进行曲线拟合,得到下肢在运动过程中角速度曲线,角加速度曲线和液压缸位移曲线。通过预编程的控制方法控制髋关节和膝关节在矢状面的运动,从而实现帮助患者通过运动再学习方法实现康复。According to the recovery mechanism of patient suffering from conditions such as stroke, a hydraulically driven exoskeleton rehabilitation robot is designed. The robot has two degrees of freedom for each lower limb, and equipment of suspension, the robot thigh length adjustment, height of leg adjustment and other devices. It could meet different heights, different weight patients. Thedriven approach is using an asymmetric valve controlled hydraulic cylinder to move patient legs. And the standard gait curve is fitted in accordance with CGA curve. As a resuit, angular velocity curves, angular acceleration curves and hydraulic cylinder displacement curves are obtained in the lower limbs moving. The pre-programmed control method is used to control the hip and knee motion in the sagittal plane, so as to achieve the patient rehabilitation through exercise re-learns methods.

关 键 词：机器人 液压 下肢康复 运动学 

分 类 号：TH137[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]