卧式下肢康复训练机器人力觉拖动示教研究  

Research on Drag and Teach of Horizontal Lower Limb Rehabilitative Robot

作　　者：杨浩 韩建海[1,2] 李向攀 YANG Hao;HAN Jian-hai;LI Xiang-pan(School of Mechatronics Engineering,He’nan University of Science&Technology,He’nan Luoyang471003,China;He’nan Provincial Key Laboratory of Robotics and Intelligent S-Ystems,He’nan Luoyang471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南省机器人与智能系统重点实验室,河南洛阳471003

出　　处：《机械设计与制造》2020年第5期272-275,共4页Machinery Design & Manufacture

基　　金：河南省教育厅科学技术研究重点项目(14A460025);河南省自然科学基金面上项目(162300410082)。

摘　　要：将现代康复医学与机器人学相融合,用于下肢康复训练的技术,已经成为当前研究的热点。目前,现有的下肢康复训练机器人训练轨迹改变困难,不能适应个性化训练的要求。在已有的机械系统的基础上,在机器人的末端安装力觉传感器,通过导纳控制算法的设计以及分析机器人位姿矩阵的构成,获取机器人末端在笛卡尔空间中的位姿。再通过求逆解模块,得到各个关节的实时角度,从而驱动机器人按照示教轨迹运动。通过康复训练中的抬腿动作试验,证明了卧式下肢康复训练机器人力觉拖动示教系统的设计,达到了预期效果。The technique of lower limb rehabilitation which combine modern rehabilitation medicine with robotics has became a hot topic in current research.At present,it is difficult of rehabilitation trajectory changes that the existing lower limb rehabilitation robot and it can not adapt to the request of the personalized rehabilitation.Based on the system of existing robot mechanics,installing six dimensional force sensor at the end of the robot,using the strategy that designed by the admittance control algorithm and analysing the composition of the robot position and posture matrix to get robot end position and posture in cartesian coordinate system. Using the inverse solution module to get each joint Angle of real time,then robot can move according to teach trajectory. Rehabilitation of leg raise test proved that the drag and teach system design of the horizontal lower limbs rehabilitation robot already reach the desired effect.

关 键 词：卧式下肢康复训练机器人 拖动示教 六维力觉传感器 康复训练 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]