一种同/异步四肢联动康复机器人的研究  

Research on a synchronous or asynchronous rehabilitation robot with linkage of limbs

作　　者：姜礼杰[1] 张方双 任刚跃 王勇[1] 

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《仪器仪表学报》2017年第10期2381-2390,共10页Chinese Journal of Scientific Instrument

基　　金：科技型中小企业技术创新基金(11C26213402042);国家自然科学基金(41076061)项目资助

摘　　要：为提高偏瘫患者健、患侧肢体协调运动能力,研制了一种新型坐式单驱动四肢联动康复机器人,它能够在主被动模式下为偏瘫患者的肢体提供同异步协同训练。基于平面七连杆变胞机构设计了一种可实现四肢协调运动的训练机构,通过传动系统调节两侧训练机构曲柄的相位差,实现左右两侧肢体同步或异步联合运动;在矢状面内建立人-机模型及训练机构进行运动学分析,从理论上证明该机构能够实现四肢联动的可行性;基于智能移动终端和微控制器开发了上下位机控制系统,并在样机上进行了试验,结果表明试验者在机器人作用下能够实现:肩关节-16.9°~15.1°、膝关节121.5°~172.5°的上下肢协同运动;0~6 r/min速度范围的同/异步被动训练和61.82~227 N足底压力范围的异步主动训练;同/异步训练模式之间可自动切换。In order to improve the coordinated motion ability of the limbs of patients with hemiplegia,a new type of a sitting single-input rehabilitation robot for coordinated movement of limbs rehabilitation training robot is developed. This robot can provide the synchronous and asynchronous cooperation training for hemiplegic patients under the active and passive training mode. Based on the 7 R linkage metamorphic mechanism,a rehabilitation training mechanism is designed to realize the coordinated movement of the upper and lower limbs. By the transmission system,the crank initial phase of the training mechanism can be adjusted,which can realize the synchronous or asynchronous movement of the left and right sides of the limbs. The kinematics analysis of the training mechanism is conducted,and it is proved theoretically that the mechanism can achieve the coordination movement of the limbs. The upper and lower computer control system is exploited by intelligent mobile terminal and microcontroller. Finally,the experiments are carried out on the prototype of the robot. The test results are as follows： The robot can realize cooperative motion of upper and lower limbs that the shoulder joint of the subject can move between-16. 9° and 15. 1°,and the knee joint can move between 121. 5° and 172. 5°; The robot can achieve passive training of synchronous and asynchronous limbs with the speed limit（0 ~ 6 r/min） and active training of asynchronous limbs with plantar pressure range（61. 82 ~ 227 N）. Synchronous and asynchronous training modes can be switched automatically.

关 键 词：康复机器人 偏瘫患者 四肢联动 同/异步训练 机构设计与分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]