下肢肌力训练装置的设计与仿真  

Design and simulation of the muscle-strength training device for lower limbs

作　　者：金迪 冯永飞 邵千钧[1] 梁冬泰[1] 陈哲铭 JIN Di;FENG Yong-fei;SHAO Qian-jun;LIANG Dong-tai;CHEN Zhe-ming(Faculty of Mechanical Engineering&Mechanics,Ningbo University,Ningbo 315211)

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211

出　　处：《机械设计》2021年第4期30-36,共7页Journal of Machine Design

基　　金：宁波市自然科学基金资助项目(2019A610110);宁波大学科研基金资助项目(XYL19029)。

摘　　要：脑卒中和老龄化等原因导致下肢运动障碍的患者增多,康复需求激增,而康复医师数量不足与患者数量增加的矛盾越发突出。针对患者的康复需要,根据人体下肢运动机理,设计了一种结构简单、价格低廉的下肢肌力训练装置,主要包括升降座椅模块、脚踏交互模块、直线滑块模组、动力模块等。建立人机运动模型,计算训练装置的主要设计参数:座椅高度为340~500 mm,直线滑轨长度为1000 mm,满足下肢康复需要。采用复数矢量法,对人机模型进行运动学分析,求解髋关节、膝关节变化与脚踏板的关系。使用ADAMS软件,进行下肢抗阻训练,仿真结果表明:阻力越大,下肢伸腿关节力矩越大,屈腿关节力矩越小。该研究成果为样机研制提供选型依据。Stroke and aging and other reasons have led to an increase in patients with lower-limb dyskinesia,and the demand for rehabilitation has surged.The contradiction between the insufficient number of rehabilitation physicians and the ever-increasing number of patients become more prominent.In this article,in order to meet the rehabilitation needs of patients,according to the movement mechanism of lower limbs,a simple,inexpensive muscle-strength training device is developed,including the liftingseat module,the pedal-interaction module,the linear-slider modules,the power modules,and so on.Besides,efforts are made to set up the human-machine motion model and calculate the training-device’s main design parameters.The results show that the device with the seat height of 340~500 mm and the length of linear slide rail of 1000 mm meets the needs of lower-limb rehabilitation.The complex vector method is adopted to analyze the kinematics of the human-machine model,and the relationship between the hip joint,the knee-joint changes and the foot pedal is solved.By means of the ADAMS software,resistance training is carried out on the lower limb.The simulation results show that with greater resistance,the joint torque of the lower limb’s extension leg increases,and the joint torque of its flexion leg decreases.These results provide basis for model selection for prototype development.

关 键 词：下肢肌力训练装置 结构设计 运动学 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]