上肢康复可穿戴式外骨骼助力机器人的机械设计与研究  

Mechanical Design and Research of Wearable Exoskeleton Assisted Robot for Upper Limb Rehabilitation

作　　者：汪宗保[1,3] 汪宗兵 杨永晖[1] 王从振[1] 杨光[1] 李业甫[1] WANG Zongbao;WANG Zongbing;YANG Yonghui;WANG Congzhen;YANG Guang;LI Yefu(The Third Affiliated Hospital of Anhui University of Chinese Medicine,Hefei,230031;Anhui Zhangxun Automation Science and Technology Co.Ltd.,Hefei,230093;School of Rehabilitation Medicine of Anhui University of Chinese Medicine,Hefei,230038)

机构地区：[1]安徽中医药大学第三附属医院,合肥市230031 [2]安徽掌迅自动化科技有限公司,合肥市230093 [3]安徽中医药大学康复医学院,合肥市230038

出　　处：《中国医疗器械杂志》2022年第1期42-46,共5页Chinese Journal of Medical Instrumentation

基　　金：安徽省中医药管理局“十三五”省级中医重点专科建设项目(AHSJXB202034070211);国家中医药管理局中医康复服务能力建设项目(2018年);。

摘　　要：基于人体上肢生物力学机理、传统康复训练弊端和目前上肢康复机器人现状,提出了一种六自由度、柔性调节、可穿戴式上肢康复外骨骼设计方案。首先,对上肢各关节力学进行分析,利用CATIA三维软件对上肢康复可穿戴外骨骼的整体机械结构进行了虚拟样机设计,创新性设计了前臂和上臂内/外旋单排四点接触球轴承齿形传动以及肩部柔性化被动调整机构(粘弹性阻尼器)等;然后,对上肢康复外骨骼各关节驱动力矩进行了理论分析与计算、各关节驱动电机和变速箱的选型;最后,对上肢外骨骼进行了整体有限元分析。研究和试验结果表明:该上肢外骨骼助力结构设计方案具有较高可行性,能帮助上肢瘫痪及其运动功能障碍患者自主康复训练。Based on the biomechanical mechanism of human upper limb,the disadvantages of traditional rehabilitation training and the current status of upper limb rehabilitation robot,a six degree of freedom,flexible adjustment,wearable upper limb rehabilitation exoskeleton design scheme is proposed.Firstly,the mechanics of each joint of the upper limb is analyzed,and the virtual prototype design of the whole mechanical structure of the upper limb rehabilitation wearable exoskeleton is carried out by using CATIA three-dimensional software.The tooth transmission of the forearm and the upper arm single row four point contact ball bearing with internal/external rotation and the shoulder flexible passive adjustment mechanism(viscoelastic damper)are innovatively designed.Then,the joints of the upper limb rehabilitation exoskeleton are analyzed,theoretical analysis and calculation of the driving torque,the selection of the motor and gearbox of each driving joint are carried out.Finally,the whole finite element analysis of the upper limb exoskeleton is carried out.The research and experimental results showed that the design scheme of the upper limb exoskeleton assist structure is highly feasible,which can help the patients with upper limb paralysis and motor dysfunction self-rehabilitation.

关 键 词：上肢康复 外骨骼机器人 结构设计 

分 类 号：R197.39[医药卫生—卫生事业管理]