下肢康复训练机器人本体设计与控制系统  

Ontology Design and Control System of Lower Limbs Rehabilitation Training Robot

作　　者：牛军道 高学山[2] 赵鹏 郝亮超 Niu Jundao;Gao Xueshan;Zhao Peng;Hao Liangchao(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Electrical,Electronics and Computer Science,Guangxi University of Science and Technology,Liuzhou 545006,China)

机构地区：[1]广西科技大学机械与汽车工程学院,广西柳州545006 [2]北京理工大学机电学院,北京100081 [3]广西科技大学电气电子与计算机科学学院,广西柳州545006

出　　处：《兵工自动化》2022年第6期14-19,共6页Ordnance Industry Automation

基　　金：国家重点研发计划项目(2020YFC2008503)。

摘　　要：针对下肢运动功能障碍患者对康复训练设备的需求,设计一种能够辅助患者自主康复的下肢训练机器人。基于人机工程学理论和现实因素设计康复机器人的3维结构模型;根据人体的运动特点设计人体行走意图识别系统,并对机器人的运动特性进行分析,提出基于多传感系统的机器人运动控制方案;搭建康复机器人实验样机,并对机器人的控制效果进行测试。实验结果表明,该机器人的结构设计与控制方案具备正确性和可行性。In order to meet the needs of rehabilitation training equipment for patients with lower limb motor dysfunction,a lower limb training robot is designed to assist patients in autonomous rehabilitation.Based on the theory of ergonomics and realistic factors,a 3D structural model of the rehabilitation robot is designed,and a human walking intention recognition system is designed according to the motion characteristics of the human body,and a motion control scheme based on a multi-sensor system is proposed by analyzing the motion characteristics of the robot.The experimental prototype of the rehabilitation robot is built,and the control effect of the robot is tested.The experimental results show that the structural design and control scheme of the robot are correct and feasible.

关 键 词：康复机器人 结构设计 多传感系统 运动特性 自主康复 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]