一种外骨骼辅助康复机器人设计与实现  

Design and Implementation of an Exoskeleton Assisted Rehabilitation Robot

作　　者：幸晋渝[1] 李勇 Xing Jinyu;Li Yong(Engineering and Technical College,Chengdu University of Technology,Leshan 614000,China;Xi'an DAAI Robot Technology Co.,Ltd.,Xi'an 710000,China)

机构地区：[1]成都理工大学工程技术学院,四川乐山614000 [2]西安大艾机器人科技有限公司,西安710000

出　　处：《计算机测量与控制》2021年第4期190-194,共5页Computer Measurement &Control

基　　金：成都理工大学工程技术学院院基金项目(C122018010)。

摘　　要：随着我国社会老龄化程度加深及各种意外伤害事故频发,下肢运动障碍患者持续增加,各种辅助康复机器人技术迅速发展;为帮助患者改善下肢运动功能,设计了一种基于TI高性能处理器的四自由度下肢外骨骼康复机器人,采用分布式控制系统结构,以组态屏为上位机,各关节驱动采用驱控一体化模块,使用C++语言编写机器人控制程序。通过实物样机实验,康复机器人可辅助患者完成正常步态行走、起立、坐下等基本功能,具有操作简便、结构轻巧、控制精度良好、成本较低等优点。With the deepening of the aging of our society and the frequent occurrence of various accidents and injuries,the number of patients with Lower Limb Dyskinesia continues to increase,and various kinds of auxiliary rehabilitation robot technology has developed rapidly.In order to help patients improve the lower limb movement function,a 4-DOF lower limb exoskeleton rehabilitation robot based on TI high-performance processor is designed.The structure of distributed control system is adopted,the configuration screen is used as the upper computer,the drive control module is used for each joint drive,and the robot control program is written in C++language.Through the physical prototype experiment,the rehabilitation robot can assist patients to complete the basic functions of walking,standing up and sitting down with normal gait.It has the advantages of simple operation,light structure,good control accuracy and low cost.

关 键 词：康复机器人 磁场定向控制 PVT表 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]