床旁上肢康复机器人设计研究  

Research on Bedside Upper Limb Rehabilitation Robot

作　　者：杜妍辰[1,2,3] 龚玲凯 张洪源 喻洪流 

机构地区：[1]上海理工大学康复工程与技术研究所,上海 [2]上海康复器械工程技术研究中心,上海 [3]民政部神经功能信息与康复工程重点实验室,上海

出　　处：《建模与仿真》2023年第3期2125-2140,共16页Modeling and Simulation

摘　　要：目的:针对由脑卒中导致的卧床的上肢偏瘫患者,设计一种床旁式上肢康复训练机器人。方法:通过研究人体上肢结构与运动,进行床旁上肢康复机器人的构型和尺寸优化设计。通过模块化建模思想综合功能构型尺寸等因素进行机械设计,使用ANSYS仿真对关键零部件进行强度校核。构建床旁上肢机器人运动学模型,并进行正逆运动学方程的计算与分析,进行机器人训练轨迹研究。结果:该床旁式上肢康复训练机器人在验证过程中无机械干涉,能实现上肢康复训练的要求,训练效果均达到预期。结论:该床旁式上肢康复训练机器人设计合理,方法可行。Objective: To design a bedside upper limb rehabilitation training robot for patients with upper limb hemiplegia caused by stroke. Methods: By studying the structure and movement of human upper limbs, the configuration and size of bedside upper limb rehabilitation robot were optimized. Me-chanical design is carried out by integrating functional configuration dimensions and other factors through modular modeling idea, and the strength of key components is checked by ANSYS simula-tion. The kinematics model of bedside upper limb robot is constructed, and the forward and inverse kinematics equations are calculated and analyzed to study the robot training trajectory. Results: The bedside upper limb rehabilitation training robot had no mechanical interference in the verifi-cation process and could meet the requirements of upper limb rehabilitation training. Conclusion: The bedside upper limb rehabilitation training robot is reasonable in design and feasible in meth-od. The training effect has reached the expectation.

关 键 词：康复训练机器人 上肢康复机器人 机械干涉 人体上肢 ANSYS仿真 运动学模型 模块化建模 验证过程 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]