面向人体运动需求的人机闭链下肢康复外骨骼设计  

Design of the human-machine closed-chain lower-limb rehabilitation exoskeleton for human motion needs

作　　者：李龙飞 朱凌云[1,2] 苟向锋 LI Long-fei;ZHU Ling-yun;GOU Xiang-feng(College of Mechanical Engineering,Tiangong University,Tianjin 300387;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tianjin 300387)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械设计》2021年第8期53-60,共8页Journal of Machine Design

基　　金：天津市自然科学基金项目(18JCYBJC88800)。

摘　　要：患者进行康复训练时,外骨骼需满足人体康复训练需求,并保证人体各关节具有确切的运动。针对传统外骨骼髋关节自由度低及人机协调运动时产生运动偏差问题,提出一种含髋关节6连杆机构的下肢外骨骼,并对其人机接口进行优化设计,建立了人机闭链外骨骼优化模型。通过建立外骨骼单侧腿运动学模型,求解其运动学正解、反解、运动空间并检验外骨骼人机相容性,运用ADAMS软件对人体-外骨骼传统模型和优化模型进行了运动学仿真与分析。结果表明:外骨骼末端运动空间包含人体末端运动轨迹;人体各关节运动曲线与理论期望曲线运动趋势基本相同,优化后的外骨骼明显减小人机运动偏差。研究表明,优化外骨骼有助于更精准控制下肢各关节运动,补偿人体各关节的运动偏差,证明人机闭链外骨骼设计的合理性。When the patients are subject to exercise,the exoskeleton should meet the needs of rehabilitation training and ensure the exact movement of all joints of the human body.In this article,because of low degree of freedom of traditional exoskeleton hip joints and motion deviation caused by coordinated movement between human and machine,the lower-limb exoskeleton with the six-link mechanism of hip joints is proposed,and its human-machine interface is optimized;then,the human-machine closedchain exoskeleton optimized model is set up.The kinematic model of the one-leg exoskeleton is worked out,such factors as forward solution,reverse solution and movement space are solved,and the human-machine compatibility of this exoskeleton is checked.The kinematic simulation and analysis are conducted on the traditional human-exoskeleton model and the optimized human-exoskeleton model by means of the ADAMS software.The results show that the movement space of the exoskeleton end contains the human terminal movement trajectory;the movement trend of each joint of the human body is basically the same as that of the theoretical curve,and the optimized exoskeleton significantly reduces the human-machine movement deviation.The research shows that optimized exoskeleton helps to control the movement of lower-limb joints more accurately,compensate the movement deviation of human joints,and prove the rationality of the human-machine closed-chain exoskeleton design.

关 键 词：下肢外骨骼 髋关节 人机接口 结构优化设计 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]