基于步态规律的康复训练机器人机构设计与分析  

Mechanism Design and Analysis of Rehabilitation Training Robot based on Gait Regularity

作　　者：梁启松 姜礼杰[1] 王勇[1] Liang Qisong ,Jiang Lijie ,Wang Yong(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009 , China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械传动》2018年第5期62-66,95,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(41076061);科技部中小企业创新基金(11C26214402042)

摘　　要：针对目前康复训练机器人的训练轨迹现状,研制了一款适于偏瘫患者使用的轨迹可变的康复训练机器人。首先探索人体正常的步态规律,结合偏瘫患者所需的步态训练运动轨迹特点,提出了基于四杆机构实现固定步态运动轨迹的设计思路,并进行了仿真验证;在此基础上,针对四杆康复训练器难以满足不同患者、不同康复阶段个性化训练需求的矛盾,分析影响四杆机构运动的主要因素;综合分析结果,设计了一款基于二自由度五杆变胞机构的康复训练机器人,并进行了样机制作及试验验证。试验结果证明,所设计的康复训练机器人能够满足偏瘫患者个性化训练要求。In the light of the current situation of the training track of rehabilitation training robot,a rehabilitation training robot with variable trajectory is developed for hemiplegia patients. Firstly,the normal gait pattern of human body is explored,combined with the characteristics of gait training trajectory of hemiplegic patients required,the design thought based on four bar mechanism realizing fixed gait trajectory is proposed,and the simulation verification is carried out. On this basis,owing to the failure of the four-bar rehabilitation training device to meet the personalized training needs for different patients in different rehabilitation phase,and the main factors affecting of the movement of the four-bar mechanism are analyzed. Through the comprehensive analysis,a rehabilitation training robot based on two DOF five-bar metamorphic mechanism is designed,and then a prototype production and clinical trials are carried out. The experimental results show that the proposed design of sitting rehabilitation robot is qualified to meet the demands of personalized training of hemiplegic patients.

关 键 词：康复训练机器人 步态轨迹 轨迹可变 机构设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]