《中国康复理论与实践》

《中国康复理论与实践》 ›› 2019, Vol. 25 ›› Issue (4): 481-486.doi: 10.3969/j.issn.1006-9771.2019.04.021

• 康复工程与辅助技术 • 上一篇    下一篇

穿戴式下肢外骨骼助行机器人系统研究

霍金月1,2, 喻洪流1,2,3, 王峰1,2, 倪伟1,2, 王多琎1,2, 胡冰山1,2,3   

  1. 1.上海理工大学康复工程与技术研究所，上海市 200093
    2.上海康复器械工程技术研究中心，上海市 200093
    3.民政部神经功能信息与康复工程重点实验室，上海市 200093
  • 收稿日期:2018-09-15 修回日期:2018-10-29 出版日期:2019-04-20 发布日期:2019-04-24
  • 通讯作者: 喻洪流，E-mail: yhl98@hotmail.com
  • 作者简介:霍金月(1994-)，女，汉族，河南杞县人，硕士研究生，主要研究方向：智能康复机器人。
  • 基金资助:
    1.国家自然科学基金项目(No. 61473193)；2.上海康复器械工程技术研究中心资助项目(No. 15DZ2251700)

Research of a Wearable Lower Extremity Assisted Exoskeleton Robot System

HUO Jin-yue1,2, YU Hong-liu1,2,3, WANG Feng1,2, NI Wei1,2, WANG Duo-jin1,2, HU Bing-shan1,2,3   

  1. 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China
    2.Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
    3.Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
  • Received:2018-09-15 Revised:2018-10-29 Published:2019-04-20 Online:2019-04-24
  • Contact: YU　Hong-liu, E-mail: yhl98@hotmail.com
  • Supported by:
    National Natural Science Foundation of China (No. 61473193) and Shanghai Engineering Research Center of Assistive Devices Project (No. 15DZ2251700)

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摘要： 目的 提出一种新型轻量化穿戴式下肢外骨骼助行机器人系统，探究其辅助步态紊乱者和T4脊髓节段以下损伤的截瘫患者(排除双下肢肌痉挛和明显疼痛者)实现行走及姿态变换康复训练的可行性。 方法 设计髋关节双电机主动驱动，膝关节被动四连杆模拟人体运动瞬心变化的主被动混合式可穿戴下肢外骨骼助行机器人结构，基于模块化设计思想，提出以STM32F767IGT6及外围电路为主控制器，包含姿态采集、电源和拐杖模块的控制系统。以正常人穿戴该外骨骼机器人进行平地、斜坡及姿态变换实验，分析运动过程中髋、膝、踝关节角度，并对比正常人穿戴和未穿戴该机器人股外侧肌和股内侧肌的肌电信号。 结果 穿戴者可实现仅基于该外骨骼机器人系统辅助的坐下-站立姿态变换以及平地/斜坡行走，且髋、膝、踝关节角度与正常人行走变化趋势基本一致，穿戴该机器人相比未穿戴行走时，股外侧肌和股内侧肌肌电信号均降低。 结论 该主被动混合式可穿戴下肢外骨骼助行机器人在仅髋关节两个电机驱动下，依然可实现行走及姿态变换的康复训练，验证了髋关节双电机主动驱动、膝关节被动四连杆结构的下肢外骨骼助行机器人系统帮助截瘫患者和步态紊乱者行走康复的可行性。

关键词: 下肢外骨骼助行机器人, 行走康复, 髋, 膝

Abstract: Objective To propose a new type of lightweight wearable lower extremity exoskeleton assisted robot system, and explore the feasibility of walking and posture change rehabilitation training for patients with gait disorder and with paraplegia under T4 spinal cord injury (exclusion of lower extremity muscle spasm and obvious pain). Methods The active and passive hybrid wearable lower extremity exoskeleton assisted robot structure of the hip joint with two-motor active drive and the knee joint passive four-link simulating the instantaneous movement of the human body was designed. Based on modular control, the STM32F767IGT6 and peripheral circuits, attitude acquisition, power supply and crutches module control system were proposed. The exoskeleton robot was worn by a normal person to perform the experiment of leveling, slope and posture transformation and analyze hip/knee /ankle joint angles during exercise, and compare the myoelectric signals of the lateral femoral and medial femoral muscles. Results The wearer could realize the sitting-standing posture change and the flat/slope walking only based on the exoskeleton robot system, and the hip/knee/ankle angles were basically consistent with the normal walking and the electromyographic signals of the lateral femoral, medial femoral muscle significantly decreased when the robot was worn while walking. Conclusion The active-passive hybrid lower exoskeleton assisted robot system can still achieve the rehabilitation of walking and posture change while reducing the weight. This verified the feasibility of the assisted robot system with the active dual-motor of the hip joint and the passive four-link structure of the knee joint to help the patients with paraplegia and gait disorder to walk and recover.

Key words: lower extremity exoskeleton assisted robot, walking rehabilitation, hip joint, knee joint

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