人体膝关节自适应康复器机构设计与运动学分析  

Mechanism Design and Kinematics Analysis of Adaptive Rehabilitation Apparatus for Human Knee Joint

作　　者：钟童童 石志新[1] 罗玉峰[1,2] 谢冬福 莫玲玲 Zhong Tongtong;Shi Zhixin;Luo Yufeng;Xie Dongfu;Mo Lingling(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China;School of Mechatronics&Vehicle Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]华东交通大学机电与车辆工程学院,江西南昌330013

出　　处：《机械传动》2020年第11期59-65,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51365036)。

摘　　要：设计了一种膝关节自适应康复器,该康复器由摆动导杆和曲柄滑块机构串联组成。依据人机工程学,通过对人体膝关节运动特点的分析,确定了自适应康复器中大小腿杆长度范围。为实现对人体膝关节伸曲角度的自适应调节,以复数矢量法为基础,建立了机构运动学模型。根据运动学方程,得出了膝关节伸曲角度与机构中可移动机架高度的关系式,确定了机构的尺寸。对自适应康复器与传统的康复器机构(曲柄滑块机构)进行了仿真分析对比。结果表明,串联式康复器和传统的康复器机构曲柄滑块机构运动特性均满足膝关节康复器伸曲角度,但串联式组合膝关节康复器运动平稳性更好。The knee adaptive rehabilitation apparatus is designed,which consists of a swinging guide linkand a crank slider mechanism.According to ergonomics,the size range of the shank in the adaptive rehabilitation apparatus is determined by analyzing the motion characteristics of human knee joint.In order to realize the adaptive adjustment of the rotation angle of human knee joint,the kinematics model of the mechanism is established based on the complex vector method.According to the kinematics equation,the relation between the knee joint extension angle and the height of the movable frame in the mechanism is obtained,thus the size of the mechanism is determined.Through the simulation analysis and comparison between the adaptive rehabilitation apparatus and the traditional rehabilitation apparatus(crank slider mechanism),the results show that the motion characteristics of the tandem type rehabilitation apparatus and the traditional rehabilitation apparatus(crank slider mechanism)can meet the stretching angle of the knee rehabilitation apparatus,but the motion stability of tandem type knee joint apparatus is better.

关 键 词：膝关节康复器 自适应 运动平稳性 

分 类 号：TH77[机械工程—仪器科学与技术]