基于气动肌腱混合驱动上肢康复装置的开发与研制  

Development and research of upper limb rehabilitation device based on pneumatic tendon hybrid drive

作　　者：高大地 邹任玲[1] 王麒铭 GAO Dadi;ZOU Renling;WANG Qiming(School of Medical Instrument and Food Engineering,University of Shanghai for Science of Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学医疗器械与食品学院

出　　处：《中国医学物理学杂志》2019年第8期950-956,共7页Chinese Journal of Medical Physics

基　　金：上海理工大学第10期微创励志创新基金（YS30810173）

摘　　要：目的:设计一款基于气动肌腱混合驱动的上肢康复装置。该装置一方面可增加康复训练装置的柔顺性,降低使用者在康复训练中被造成二次伤害的可能性,另一方面兼顾到对肩关节大范围高效率康复治疗的追求。方法:首先根据人因工程学确定上肢各关节运动角度范围,通过D-H法对其进行正向运动学求解得到外骨骼末端运动轨迹。然后,进行动力学建模与分析,求出各个关节驱动所需扭矩。最后设计合理的控制系统,对装置各个关节运动进行数学模型建立并进行Matlab/Simulink仿真验证控制系统的合理性。结果:得到基于气动肌腱混合驱动的上肢康复装置的末端运动轨迹、关节运动角度和驱动扭矩并设计其控制系统。结论:研究结果对基于气动肌腱混合驱动的上肢康复装置控制系统的上下位机程序编写提供良好的参考依据,并对上肢康复训练器械的开发具有指导意义。Objective To design an upper limb rehabilitation device driven by pneumatic tendon hybrid drive which can increase the flexibility of the rehabilitation training device and reduce the likelihood of the secondary injury in rehabilitation training,as well as take the pursuit of rapid and high-efficiency rehabilitation of the shoulder joint in consideration.Methods Firstly,the range of motion angles of the upper limbs was determined according to human factor engineering,and the forward kinematics was solved by D-H method,thereby obtaining the motion trajectory of the end of exoskeleton.Then,dynamics modeling and analysis were performed,so as to determine the torque required to drive each joint.Finally,a reasonable control system was designed,and the mathematical model of each joint motion of the device was established,and the rationality of the control system was verified by Matlab/Simulink simulation.Results The motion trajectory of the end of exoskeleton,joint motion angle and driving torque of upper limb rehabilitation device driven by pneumatic tendon hybrid drive were obtained,and the control system of upper limb rehabilitation device was realized in the study.Conclusion The result provides a good reference for the upper and lower machine program of the control system of upper limb rehabilitation device driven by pneumatic tendon hybrid drive and has guiding significance for the development of training equipments for upper limb rehabilitation.

关 键 词：上肢外骨骼 气动肌腱 运动学分析 动力学分析 控制系统 

分 类 号：R318[医药卫生—生物医学工程]