基于被动连接关节的下肢康复外骨骼机构设计  

Design of Lower Limb Rehabilitation Exoskeleton Mechanism Based on Passive Joint Subchains

作　　者：张琪涣 李剑锋[1] 陶春静 季润 李世才[1] 赵宏伟[1] 张兆晶 于洋[1] 徐成辉[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124 [2]国家康复辅具研究中心,北京100076

出　　处：《工业技术创新》2015年第3期279-285,共7页Industrial Technology Innovation

基　　金：国家自然科学基金(项目号为61273342);北京市自然科学基金(项目号为3132005)联合资助

摘　　要：传统的下肢外骨骼机构设计一般基于人机关节对应、杆长一致的设计理念,但是从机构学角度来看,这是一种过约束的人机闭链机构,存在人机运动干涉的弊端。本文探索了人机相容的下肢外骨骼机构的设计方法。基于人体下肢关节运动学特性建立下肢运动学刚体模型,使用Hunt多环空间机构自由度公式设计下肢康复外骨骼机构自由度配置方案。根据自由度配置方案进行下肢外骨骼机构构型与综合,获得9种人机相容的下肢外骨骼机构自由度配置方案,选出最优方案,最终构型出优化的下肢康复外骨骼机构。Traditional lower extremity exoskeleton designers hold the view that exoskeletons should have joints corresponding to human anatomical joints and linkages with same length to those of human beings. However, these human-exoskeleton closed-loop mechanisms are over-actuated mechanisms. A new designing method for lower extremity exoskeleton mechanism compliant to human limbs was proposed. Biomechanical model was built base on kinematical characteristics of lower limbs. 9 configurations of degree of freedom （DOF） for lower extremity exoskeleton were presented based on Hunt formula for multi-loop spatial mechanisms. An optimized scheme was established at last.

关 键 词：下肢外骨骼 被动连接关节 相容性 康复 

分 类 号：TH11[机械工程—机械设计及理论] R49[医药卫生—康复医学]