一种新的康复与代步外骨骼机器人研究  

Research of a New Rehabilitation and Assisting Robot

作　　者：黄高[1,2,3] 张伟民[1,4,2,3] Marco Ceccarelli 余张国[1,4,2,3] 陈学超[1,4,2,3] 孟非[1,4,2,3] 黄强[1,4,6,2,3] HUANG Gao ZHANG Wei-Min MARCO Ceccarelli YU Zhang-Guo CHEN Xue-Chao MENG Fei HUANG Qiang(Key Laboratory of Biomimetic Robots and Systems （Beijing Institute of Technology）, Ministry of Education, Beijing 100081, China Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081, China Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China International Joint Research Laboratory of Biomimetic Robots and Systems （Beijing Institute of Technology）, Ministry of Education, Beijing 100081, China Laboratory of Robotics and Mechatronics DICeM, University of Cassino and South Latium Via Di Biasio, Cassino （Fr） 03043, Italy)

机构地区：[1]仿生机器人与系统教育部重点实验室 [2]北京理工大学机电学院智能机器人研究所 [3]仿生机器人与系统教育部国际合作联合实验室 [4]智能机器人与系统高精尖创新中心 [5]意大利卡西诺大学机器人与机电系统实验室 [6]复杂系统智能控制与决策国家重点实验室

出　　处：《自动化学报》2016年第12期1933-1942,共10页Acta Automatica Sinica

基　　金：国家高技术研究发展计划(863计划)(2014AA041602;2015AA042305;2015AA043202);国家自然科学基金(61320106012;61375103;61533004;61273348;61321002;61673069);国际科技支撑计划(2015BAF13B01;2015BAK35B01);北京市科技计划项目(D161100003066002;Z161100003116081);国家111引智计划(B08043)~~

摘　　要：针对老年人及下肢障碍者康复训练与代步问题,本文提出一种新的康复与代步外骨骼机器人.本文首先详细介绍了机器人各部分组成及机构设计方案,通过下肢外骨骼与轮椅的有机结合,有效保持或恢复老年人、脑卒中患者下肢运动能力的同时,为患者提供一种方便的代步工具;运用脚蹬车运动制订康复训练策略,可保持下肢康复训练轨迹固定,保证患者安全;提出主从式操作方法及多模态康复训练控制流程提高使用者参与感.最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性.Towards the rehabilitation and training problems of older persons and lower limb disabilities, the paper proposes a new robot with lower limb exoskeleton for rehabilitation and walking assistance. The components and mechanical design of the robot are introduced in detail. Through the function combination of lower limb exoskeleton and wheelchair, the robot can help the users to maintain the lower limb movement effectively and provide them with a convenient tools for movement. The pedal-actuated motion training strategy can ensure the safety of users. The master-slave operational mode is put forward with multimodal rehabilitation training process control. Correctness and feasibility of the rehabilitation system are validated by computer simulation and experiment.

关 键 词：康复机器人 外骨骼 机构设计 仿真 实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]