一种个体自适应康复训练机器人机构的研究  

Research on an Individual Adaptive Rehabilitation Training Robot Mechanism

作　　者：张浩杰 李伟达[1] 李娟[1] 张虹淼[1] ZHANG Haojie;LI Weida;LI Juan;ZHANG Hongmiao(Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021,China)

机构地区：[1]苏州大学机电工程学院江苏省先进机器人技术重点实验室&苏州纳米科技协同创新中心,江苏苏州215021

出　　处：《机械与电子》2019年第3期72-75,80,共5页Machinery & Electronics

基　　金：国家自然科学基金资助项目(51475314);江苏省自然基金资助项目(BK20161217)

摘　　要：针对现有下肢康复训练机器人人机连接柔顺性和关节对中性差的问题,提出了一种个体自适应的欠驱动康复训练机器人。欠驱动机器人系统只有4个直线驱动,驱动的直线运动通过连杆和人机连接机构转化为人下肢在矢状面内的屈伸运动,可带动人体进行步态康复训练。建立了机构的人机耦合模型,进行了正、逆运动学分析。然后,基于人机耦合模型,提出了一种人体参数与连接参数的在线辨识方法,可获得难以实际测量的人体肢体长度与人机连接参数等信息,并实现了个体自适应步态轨迹规划。最后,利用MATLAB和ADAMS软件进行了仿真验证,验证了参数辨识方法的正确性,以及提出的康复训练机器人具有个体适应性。Aiming at the problems of poor Human-Machine connection flexibility and joint neutrality of the existing lower limb rehabilitation training robots, an individual adaptive under-actuated rehabilitation training robot was proposed. The under-actuated robot system only has four linear drives. The linear motion driven by the robot was transformed into the flexion and extension of lower limbs in the sagittal plane through connecting rod and human-machine connection mechanism. Human-machine coupling model was built, and then forward and inverse kinematic analysis was carried out. Based on this model, an online identification method of human parameters and connection parameters was proposed, which can obtain the information of human limb length and connection parameters that are difficult to measure in practice, and realize the individual adaptive gait trajectory planning. Finally, the correctness of online identification method and the individual adaptability of rehabilitation training robot were verified by MATLAB and ADAMS software.

关 键 词：康复训练机器人 运动学 个体自适应 在线辨识 轨迹规划 

分 类 号：TH112.1[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]