脑瘫儿童下肢康复外骨骼机器人设计与验证  

Design and validation of a lower limb rehabilitation exoskeleton robot for children with cerebral palsy

作　　者：曹武警 刘骏航 张硕 罗明祥 吴新宇[1] CAO Wujing;LIU Junhang;ZHANG Shuo;LUO Mingxiang;WU Xinyu(Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China;College of Mechanical and Electronic Engineering,China University of Petroleum(East China),Qingdao 266580,China)

机构地区：[1]中国科学院深圳先进技术研究院,深圳518055 [2]中国石油大学(华东)机电工程学院,青岛266580

出　　处：《上海理工大学学报》2025年第1期9-18,共10页Journal of University of Shanghai For Science and Technology

基　　金：国家自然科学基金资助项目(62473358);广东省自然科学基金青年提升项目(2024A1515030055)。

摘　　要：针对国内康复设备缺乏及其对儿童腿型适应性不足的现状,设计了一款用于脑瘫儿童下肢康复的台架式外骨骼机器人。脑瘫作为一种常见的儿童疾病,常导致“蹲伏步态”等不同程度的步态异常,本文针对此步态进行康复机器人设计。该结构由外骨骼机器人和助行器小车组成,拥有4个主动自由度,能进行多角度调节和伸缩,满足不同儿童腿型的需求。控制系统采用主从分布式架构,结合KMP(kernelized movement primitive)算法实现了个性化轨迹的匹配和自适应步态的规划。实验结果表明,该康复设备机械结构和控制系统运行可靠,同时具备良好的轨迹跟踪能力,可有效提高脑瘫儿童的步态稳定性。Airming at the lack of domestic rehabilitation equipment and inadequate adaptability to children's leg shapes,a bench-mounted exoskeleton robot of lower limb rehabilitation for children with cerebral palsy was designed.Cerebral palsy,as a common pediatric condition,often leads to gait abnormalities,such as"crouch gait".To address this issue,a rehabilitation robot composed of an exoskeleton robot and a walker cart was designed.The system included four active degrees of freedom and features adjustable angles and telescopic structures to accommodate various children's leg shapes.The control system adopted a master-slave distributed architecture and incorporated the kernelized movement primitive(KMP)algorithm to achieve personalized trajectory matching and adaptive gait planning.Experimental results indicate that the mechanical structure and control system of the rehabilitation device are reliable,exhibit excellent trajectory tracking capabilities,and effectively enhance the gait stability of children with cerebral palsy.

关 键 词：脑瘫康复训练 下肢外骨骼 机械设计 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]