—种生物融合式踝关节康复机构设计分析  

Design and Analysis of A Bio-syncretic Mechanism for Ankle Rehabilitation

作　　者：边辉[1,2] 刘灿 王冬华 赵铁石[1,2] 雷云飞 张纯[1,2] BIAN Hui;LIU Can;WANG Donghua;ZHAO Tieshi;LEI Yunfei;ZHANG Chun(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinghuangdao Hebei 066000,China;Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education,Yanshan University,Qinghuangdao Hebei 066000,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066000 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066000

出　　处：《机械设计与研究》2019年第6期86-90,104,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51705299)。

摘　　要：针对踝关节损伤后运动功能康复需求,设计了1种由包含弹性驱动的平面串并混联机构以及人体下肢构成的生物融合式康复机构。针对人机所构成的空间闭环,分析了机构中人体和机械的运动和受力,推导了踝关节康复角与机械机构输出间映射关系。结合影响系数法给出康复运动的力位平衡分析方法并通过踝关节内收/外展运动进行验证。以背屈/跖屈,外翻/内翻典型康复运动为例,对生物融合式康复机构中人体作用力,机械驱动量进行分析,并通过ADAMS仿真验证了上述分析方法的正确性。该生物融合式康复机构通过对机械驱动的位置控制即可实现踝关节康复运动的力/位混合控制,以实现患者安全康复训练。A bio-syncretic rehabilitation mechanism was proposed for the rehabilitation of motor function after ankle injury,which was composed of a planar series-parallel hybrid mechanism with elastic drives and human lower limbs.Aiming at the space closed-loop composed of human and machine,the paper not only analyzed the movement and force of human and machine,but also derived the mapping between the ankle rehabilitation angle and the output of the mechanism.The force-position balance analysis of rehabilitation exercise is given by using influence coefficient and verified by adduction/abduction of ankle.The human force and mechanical drive of bio-syncretic rehabilitation mechanism were analyzed with typical rehabilitation exercises of dorsiflexion/plantarflexion and inversion/eversion,and the correctness of the analysis method was verified by ADAMS.The bio一syncretic rehabilitation mechanism can realize the hybrid force/position control of ankle rehabilitation movement by controlling position of mechanical drive,accomplishing safe rehabilitation training of patient.

关 键 词：踝关节 生物融合 康复机构 力/位混合控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]