下肢康复训练机器人的设计开发  

Design of Rehabilitation Training Robot for Lower Limb of Human Body

作　　者：杨昆才 张小栋[1,2] 张强[1] 尹贵[1] 樊琛 YANG Kuncai;ZHANG Xiaodong;ZHANG Qiang;YIN Gui;FAN Chen(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机械工程学院,陕西西安710049 [2]西安交通大学现代设计及转子轴承系统教育部重点试验室,陕西西安710049

出　　处：《机械与电子》2018年第3期55-60,共6页Machinery & Electronics

基　　金：2016年陕西省科技统筹创新工程计划资助项目(2016KTZDGY06-06);国家高技术研究发展计划("八六三"计划)资助项目(2015AA042301)

摘　　要：针对当前下肢运动障碍患者众多,而国内传统康复训练设备机械结构复杂、穿戴适应性差、步态训练人机运动精度低和协调性弱等问题,在深入分析了现有康复设备存在不足的基础上,设计开发了下肢康复训练机器人。该机器人的外骨骼机械腿采用曲柄滑块方式驱动关节运动,可自由调节机械腿长度与两腿宽度,再搭配跑步机与减重机构共同组成了机器人的机械部分。同时,该机器人集成了外骨骼腿和跑步机的控制系统,并应用提出的外骨骼腿的位置控制以及与跑步机速度的协同控制方法。最后,在实验室搭建了所设计的下肢康复训练机器人系统,并进行了人体带载实验。结果表明,该康复训练机器人对不同尺寸人体具有很强的穿戴适应性,同时具有精确的轨迹跟踪能力,以及良好的协调运动控制稳定性。In view of the actuality that many patients have lower limb movement disorders,and domestic traditional rehabilitation training devices are of complicated mechanical structure,poor wear adaptability,poor human machine compatibility,and low precision during gait training,this paper proposes the design of a lower limb rehabilitation training robot.The mechanical exoskeleton legs of the robot adopt the crank slider method to drive the joint movement,and the length of the leg and the width between two legs can be adjusted freely by the mechanical parts of the robot,which also consisted of the treadmill and the weight-reducing mechanism.Meanwhile,the robot integrates the control system of exoskeleton legs and treadmill to control the position of exoskeleton legs and the velocity of the treadmill in a coordinated way.To examine the efficiency,the lower limb rehabilitation training robot system was set up in the laboratory and the experiment with human body on load was carried out.The results show that the rehabilitation robot is highly adaptable to different sizes of human body,and has accurate trajectory tracking ability as well as sound stability in coordinated motion control.

关 键 词：下肢康复机器人 协调控制 轨迹跟踪 步态训练 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]