下肢外骨骼康复机器人关节运动轨迹分析与步态测试研究  

Joint motion trajectory analysis and gait experiment research of a lower limb exoskeleton rehabilitation robot

作　　者：魏强生 王殊轶[1] 肖建如[2,3] 许炜[2,3] 邢文琪 WEI Qiangsheng;WANG Shuyi;XIAO Jianru;XU Wei;XING Wenqi(School of Medical Instrument and Food Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Shanghai Changzheng Hospital,Shanghai 200003;Institute of Orthopedics of PLA,Shanghai 200003)

机构地区：[1]上海理工大学医疗器械与食品学院,上海200093 [2]上海市长征医院,上海200003 [3]中国人民解放军全军骨科研究所,上海200003

出　　处：《生物医学工程研究》2022年第1期62-70,共9页Journal Of Biomedical Engineering Research

基　　金：国家自然科学基金资助项目(11502146);2019年上海理工大学医工交叉项目(10-19-308-506)。

摘　　要：本研究针对一款下肢外骨骼康复机器人(lower limb exoskeleton rehabilitation robot,LLERR)进行了关节运动轨迹分析与步态测试研究。分别通过D-H法和拉格朗日法对外骨骼机器人单侧下肢进行运动学和动力学建模分析,得出各运动关节间运动学与动力学关系。通过虚拟样机仿真验证提出的外骨骼机器人模型理论分析的正确性,分析了误差来源。通过使用人体模型进行样机穿戴测试,对预设步态过程中外骨骼机器人的位置和速度进行跟踪,验证了行走过程中步态相位的稳定性。招募受试者在光学运动捕捉环境下进行样机穿戴步态测试,结果表明外骨骼机器人带动人体下肢进行规划步态行走达到预期效果。测试结果从主、客观角度验证了下肢外骨骼康复机器人的稳定性和有效性。We studied the joint motion trajectory analysis and gait experiment research of a lower limb exoskeleton rehabilitation robot(LLERR).Kinematics and dynamics modeling and analysis of unilateral lower limb of LLERR were carried out by D-H method and Lagrange method respectively,the kinematics and dynamics relationship among the moving joints was obtained.The correctness of the theoretical analysis of the proposed exoskeleton robot model was verified by virtual prototype simulation,and the source of error was analyzed.A human body model was used to perform a prototype wearing test,the position and velocity of the exoskeleton robot during the gait experiment process were tracked,and the stability of the gait phase during walking was verified.By recruiting subjects to perform a prototype weared gait test in an optical motion capture environment,the results showed that the exoskeleton robot driving the lower limbs of human body in planned gait walking had achieved the desired effect.The test verifies the stability and effectiveness of the lower limb exoskeleton rehabilitation robot from a subjective and objective perspective.

关 键 词：外骨骼康复机器人 运动学 动力学 ADAMS仿真 步态规划 运动捕捉 步态测试 

分 类 号：R318[医药卫生—生物医学工程] R496[医药卫生—基础医学]