人机相容型上肢康复外骨骼的构型设计与运动学分析  

Configuration design and kinematic analysis of human-machine compatible exoskeleton mechanism for upper-limb rehabilitation

作　　者：张争艳[1] 申文豹 蒋飞飞 王佳鑫 ZHANG Zhengyan;SHEN Wenbao;JIANG Feifei;WANG Jiaxin(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械设计》2025年第2期50-60,共11页Journal of Machine Design

基　　金：国家重点研发计划项目(2019YFB1312500)。

摘　　要：为帮助因脑卒中导致的上肢运动障碍患者重新恢复上肢运动功能,提出一种7自由度、人机相容型上肢外骨骼机构。针对康复运动中人体上肢关节轴线漂移问题,运用高等机构学理论与人机相容理论对外骨骼机构进行构型设计,构建人-机多闭链恰约束系统实现人-机运动相容。采用D-H方法建立人-机肩关节闭链运动学模型,推导人-机肩部关节之间运动关系。基于可操作性与肩关节屈曲角度对盂肱关节机构关节轴线方位角进行优选,得到上肢工作空间内无奇异点的盂肱关节构型,对比优化前后肩关节机构的工作空间范围。建立优化后整个外骨骼机构的运动学模型,在此基础上,采用蒙特卡洛法求解外骨骼机构的工作空间;同时,采用高次多项式插值法在关节空间对外骨骼机构进行轨迹规划,对规划后的关节运动情况进行分析。结果表明:提出的构型能满足上肢运动需求且工作空间内无奇异位形,规划后轨迹运动平缓,符合康复运动要求。In this article,in order to help patients with upper-limb disability caused by stroke in the process of upper-limb rehabilitation,a human-machine compatible upper-limb exoskeleton mechanism with seven degrees of freedom is proposed.As for axis drift of the upper-limb joints during rehabilitation,the exoskeleton mechanism is designed and configurated with the help of the advanced mechanisms theory and the human-machine compatibility theory.The human-machine suitable constraint system with multi-closed chains is set up for human-machine compatibility.The D-H method is used to construct the closed-chain kinematic model of the human-machine shoulder joints;then,the kinematic relationship between the human-machine shoulder joints is deduced.Based on the operability and the angle of shoulder joint flexion,the glenohumeral joint mechanism’s joint axis angle is optimized;the glenohumeral joint’s configuration without singularity in the upper-limb workspace is worked out,and the shoulder joint mechanism’s range of workspace before and after optimization is compared.The kinematic model of the whole exoskeleton mechanism after optimization is set up,and on this basis its workspace is solved by means of the Monte-Carlo method.Furthermore,the high-order polynomial interpolation method is used to plan the exoskeleton mechanism’s trajectory in the joint space,and the analysis is conducted on joint motion after trajectory planning.The results show that this configuration meets the needs of upper-limb motion and there is no singular configuration in the workspace.After trajectory planning,the exoskeleton mechanism moves smoothly,which satisfies the requirements of rehabilitative motion.

关 键 词：外骨骼机构 恰约束闭链 人机相容性 工作空间 奇异性 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]