混联式腕关节康复机构的运动学仿真及康复效果评估  

Kinematic Simulation and Efficacy Evaluation of Hybrid Wrist Joint Rehabilitation Mechanism

作　　者：李清[1] 赵立婷 刘荣帅 丰玉玺 张鹏 LI Qing;ZHAO Liting;LIU Rongshuai;FENG Yuxi;ZHANG Peng(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《机械科学与技术》2022年第12期1839-1843,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：山西省自然科学基金项目(201901D111132);山西省高校科技成果转化培育项目(2020CG035)。

摘　　要：针对腕关节损伤或功能性退化患者,基于(2-RPS/UPU)&R混联机构提出一种可穿戴式腕关节康复机器人。用SolidWorks进行三维建模,导入Adams中进行正逆运动学仿真,在整个仿真过程中,曲线光滑,没有突变点,说明该腕关节康复机器人稳定性好,安全性强。利用AnyBody提取康复训练时腕关节处肌肉相关力学的变化参数,并对康复效果进行评估,结果表明该机器人带动手腕做康复运动时,腕关节周围肌肉的活动度和收缩情况符合康复医学的相关规律,不会对肌肉造成二次伤害,满足受损腕关节的康复需求。A wearable wrist rehabilitation robot was proposed based on the(2-RPS/UPU)&R hybrid mechanism for patients with wrist injury or functional degradation. Three-dimensional modeling was first carried out with SolidWorks and then imported into Adams for forward and inverse kinematics simulation. In the whole simulation process, the performance curves were smooth and there was no mutation point, indicating that the wrist rehabilitation robot had good stability and strong security. The mechanical parameters of muscle in the wrist joint were obtained and the rehabilitation efficacy was evaluated with AnyBody during rehabilitation training. The results showed that the activity and contraction of the muscles around the wrist were consistent with the relevant laws of rehabilitation medicine and would not cause muscle secondary damage, so as to meet the rehabilitation needs of the wrist joint.

关 键 词：(2-RPS/UPU)&R 腕关节 运动学 康复效果 AnyBody 

分 类 号：TH112[机械工程—机械设计及理论]