卧式下肢康复机器人训练模式设计与轨迹规划  

Training mode design and application of horizontal lower limb rehabilitation robot trajectory planning

作　　者：赵金鹏 韩建海[1,2] 李向攀[1,2] 郭冰菁[1,2] ZHAO Jinpeng;HAN Jianhai;LI Xiangpan;GUO Bingjing(Mechatronics Engineering School,Henan University of Science and Technology,Luoyang Henan 471003,China;Henan Key Laboratory of Robot and Intelligent Systems,Henan University of Science and Technology,Luoyang Henan 471023,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南科技大学河南省机器人与智能系统重点实验室,河南洛阳471023

出　　处：《智能计算机与应用》2023年第11期38-43,共6页Intelligent Computer and Applications

基　　金：河南省科技攻关项目(212102310890,212102310249)。

摘　　要：针对脑卒中等原因引起的下肢运动功能障碍患者日益增多,本文设计了一种卧式下肢康复机器人。通过对该机器人的结构、运动学和髋、膝、踝关节运动范围的分析,结合现代康复理论,设计了多种康复训练模式;在机器人末端结构上采用柔性关节的设计,保证了康复训练的柔顺性;运用S型轨迹规划原理与所设计的康复训练模式相结合,在Simulink上对机器人髋膝双关节和髋膝踝多关节运动轨迹进行了仿真分析;最后通过设计空中蹬自行车模式的实验验证了卧式康复机器人结构的合理性以及康复训练模式的科学性。In view of the increasing number of patients with lower limb motor dysfunction caused by moderate stroke,a horizontal lower limb rehabilitation robot is designed in this paper.Based on the analysis of the robot's structure,kinematics and the range of motion of hip,knee and ankle joints,combined with modern rehabilitation theory,a variety of rehabilitation training modes are designed.The end structure of the robot is designed with flexible joints to ensure the flexibility of rehabilitation training.Combining the S-type trajectory planning principle with the designed rehabilitation training mode,the motion trajectories of the robot's hip knee joint and hip knee ankle joint are simulated on Simulink.Finally,the rationality of the structure of the horizontal rehabilitation robot and the scientificity of the rehabilitation training mode are verified through the experiment of designing the bicycle riding mode in the air.

关 键 词：下肢康复机器人 康复训练模式 柔性末端 S形轨迹规划 仿真与实验分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]