基于角度控制的被动辅助式RGO系统设计  

The design of passive auxiliary RGO system based on angle control

作　　者：宁萌[1,2] 薛必伦 马泽峰[3] 卢佳伟 张秋菊[1,2] 王琨[1,2] NING Meng XUE Bilun MA Zefeng LU Jlawei ZHANG Qiuju WANG Kun(School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment ＆ Technology, Jiangnan University, Wuxi 214122, China School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

机构地区：[1]江南大学机械工程学院,无锡214122 [2]江南大学江苏省食品先进制造装备技术重点实验室,无锡214122 [3]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：《西北大学学报（自然科学版）》2017年第3期342-348,共7页Journal of Northwest University（Natural Science Edition）

基　　金：中央高校基本科研业务费专项基金资助项目(JUSRP11718);江苏省自然科学基金青年基金资助项目(BK20160185)

摘　　要：为解决已有的往复式步态矫形器(Reciprocation gait orthosis,RGO)在临床应用中因无动力导致截瘫患者体力消耗巨大、训练时间短、膝关节康复训练无效果或效果不佳、因步态失真导致稳定性差等问题,设计了一种基于角度控制的被动捕捉式RGO系统。首先建立人体穿戴RGO正常行走时下肢的髋、膝关节的角度测量系统,对正常人穿戴RGO行走时的步态进行检测和分析,将得到的数据通过Matlab进行拟合分析、离散化处理,得到髋、膝关节角度序列值,作为改进RGO的控制系统的参考值。在RGO的髋后部增加一个由直流伺服电机驱动的曲柄滑块机构,从而在不改变电机转向的情况下,实现人体的交替迈步,在左右膝关节处各增加一个电动驱动单元,实现人体膝关节的屈伸运动。最后,通过实际应用对系统测量,验证设计的合理性和实用性。Reciprocation Gait Orthosis, which is short for RGO, when used in clinical application, there are many problems： the unpowered character shortens the time of paraplegia patients＇ rehabilitation training and consumes huge energy, the rehabilitation training of knee joint has no effect or just a little effect, the distortional gait leads to poor stability and so on. In order to solve these problems, a passive capture type RGO system based on the angle control is designed. Firstly, a normal human dressed RGO walking limb hip and knee angle measurement system is established, with normal person dressing RGO to measure experimentally measured data. Through Matlab to fit analysis and discrete process, then get hip, knee angle sequence of values as an improved control system RGO reference value. Adding a DC servo motor driven by a slider-crank mechanism to the hip rear of RGO. Thus under the condition of without changing the motor to achieve the body move alternately, in each knee joint increase an electric drive unit, to realize human knee joint flexion and extension. Finally, practical applications of the system measurements verify the rationality and practicality of the improved design.

关 键 词：RGO 曲柄滑块 角度控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]