上肢外骨骼康复训练装置设计及分析  

Design and Analysis of Rehabilitation Training Device Based on Upper Limb Exoskeleton

作　　者：张振[1] 阚延鹏 陈玉[2] 葛攀 张师榕 付磊 ZHANG Zhen;KAN Yanpeng;CHEN Yu;GE Pan;ZHANG Shirong;FU Lei(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China;Key Laboratory Electric Drive and Control of Anhui Province,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]安徽工程大学电气传动与控制安徽省重点实验室,安徽芜湖241000

出　　处：《安徽工程大学学报》2022年第4期17-24,共8页Journal of Anhui Polytechnic University

基　　金：安徽省重点研究与开发计划基金资助项目(202004b11020006);安徽省自然科学基金资助项目(2108085QF278);安徽省留学人员创新项目择优计划基金资助项目(2020LCX013);安徽工程大学引进人才科研启动基金资助项目(2020YQQ010);安徽省重点实验室开放基金资助项目(DQKJ202208)。

摘　　要：针对“脑卒中”患者肌无力、无法自主康复训练等问题,设计了一种服务于上肢肌力处于MMT-0、MMT-1阶段的患者的可穿戴型上肢外骨骼康复训练装置。通过控制可以实现上肢5个康复训练姿态,使患者进行多模式、日常独立的被动康复训练。通过对上肢外骨骼装置的结构进行运动学分析及仿真,表明各关节自由度能较好地在人体正常运动范围内进行运动,验证了计算结果的正确性。通过实验测试与分析表明,装置能较好地实现预期规定姿态的控制,完成患者的被动训练,且具有适应性好、灵活性高以及自主操作能力好等优点。A wearable upper limb exoskeleton rehabilitation device was designed to address the problems of muscle weakness and inability to rehabilitate the upper limbs of patients with stroke.Five rehabilitation training postures of the upper limbs can be realized through the control,which enables patients to perform multi-modal,daily independent passive rehabilitation training.The kinematic analysis and simulation of the structure of the upper limb exoskeleton device shows that each joint degree of freedom can move well within the normal range of human motion,which verifis the correctness of the calculation results.The experimental tests and analysis show that the device can better achieve the control of the expected prescribed posture and complete the user's passive training,with the advantages of good adaptability,high flexibility and good autonomous operation ability.

关 键 词：上肢康复训练 多自由度外骨骼装置 外骨骼式 被动训练 

分 类 号：TH122[机械工程—机械设计及理论]