适应个体差异的下肢康复机器人步态规划与实现

doi:10.3969/j.issn.1006-9771.2020.12.016

《中国康复理论与实践》 ›› 2020, Vol. 26 ›› Issue (12): 1464-1470.doi: 10.3969/j.issn.1006-9771.2020.12.016

适应个体差异的下肢康复机器人步态规划与实现

蒲明辉^1,²(),余蔚¹,夏凯¹,陈琳^1,²,潘海鸿^1,²

1.广西大学机械工程学院,广西南宁市 530004
2.广西制造系统与先进制造技术重点实验室,广西南宁市 530004

收稿日期:2019-11-26 修回日期:2019-12-10 出版日期:2020-12-25 发布日期:2020-12-30
通讯作者: 蒲明辉 E-mail:minghui@gxu.edu.cn
作者简介:蒲明辉(1964-),男,汉族,广西合浦县人,硕士,教授,硕士生导师,主要研究方向：康复机器人技术、CAD/CAM/CAE。
基金资助:
1.广西创新驱动发展专项(AA17204017);2.广西重点研发计划项目(AB16380237)

Solution for Movement Mode of Lower Limb Rehabilitation Robot Adapted to Individual Differences

PU Ming-hui^1,²(),YU Wei¹,XIA Kai¹,CHEN Lin^1,²,PAN Hai-hong^1,²

1. College of Mechanical Engineering, Guangxi University, Nanning, Guangxi 530004, China
2. Guangxi Key Laboratory of Manufacturing Systems and Advanced Manufacturing Technology, Nanning, Guangxi 530004, China

Received:2019-11-26 Revised:2019-12-10 Published:2020-12-25 Online:2020-12-30
Contact: PU Ming-hui E-mail:minghui@gxu.edu.cn
Supported by:
Guangxi Innovation-Driven Development Project(AA17204017);Guangxi Key Research and Development Project(AB16380237)

摘要/Abstract

摘要：

目的针对下肢康复机器人轨迹规划,进行适应个体差异康复运动模式的求解,实现精准康复。方法在总结出下肢康复机器人6种运动模式后,根据人体多刚体理论,将下肢康复机器人外骨骼简化成二连杆机构,对运动模式进行逆运动学分析,并基于C#设计运动模式求解系统。结果将基于C#运动模式求解系统计算的运动模式关节角度值传输到上位机,6种运动模式均成功应用于下肢康复机器人。通过运动模式逆运动学分析基于C#设计的运动模式求解系统,对于不同腿长的下肢运动功能障碍患者,进行适应个体差异的运动模式关节角度值求解。通过样机实验,下肢康复机器人能够按照规划的运动模式带动人体模型进行康复训练,且实际关节角度曲线与理论关节角度曲线基本重合,关节角度误差较小。结论验证了适应个体差异运动模式求解的有效性和可行性。

关键词: 下肢康复机器人, 康复运动模式, 逆运动学分析, 精准康复

Abstract:

Objective To solve the movement mode adapting to individual differences for the trajectory planning of lower limb rehabilitation robots.Methods After summarizing the six movement modes of the lower limb rehabilitation robot, according to the multi-rigid body theory of the human body, the exoskeleton of the lower limb rehabilitation robot was simplified into a two-bar linkage mechanism, the inverse kinematics analysis of the motion mode was performed, and the motion pattern solving system was designed based on C#.Results The motion mode joint angle value calculated based on the C# motion mode solving system was transmitted to the upper computer, and the six motion modes were successfully applied to the lower limb rehabilitation robot. Through the inversion kinematics analysis of the motor model, the C#-designed motion mode solving system could solve the motorized joint angle values that adapted to individual of different leg lengths with lower extremity motor dysfunction. Through physical prototype experiments, the lower limb rehabilitation robot could drive the human body model for rehabilitation training according to the planned exercise mode. The actual joint angle curve and the theoretical joint angle curve were basically coincident, the joint angle error was small. Conclusion The individual difference motion pattern solution is valid and feasible.

Key words: lower limb rehabilitation robot, rehabilitation exercise mode, inverse kinematics analysis, precise rehabilitation

中图分类号:

R496

蒲明辉,余蔚,夏凯,陈琳,潘海鸿. 适应个体差异的下肢康复机器人步态规划与实现[J]. 《中国康复理论与实践》, 2020, 26(12): 1464-1470.

PU Ming-hui,YU Wei,XIA Kai,CHEN Lin,PAN Hai-hong. Solution for Movement Mode of Lower Limb Rehabilitation Robot Adapted to Individual Differences[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2020, 26(12): 1464-1470.

图/表 11

图1

表1

图2

图3

表2

六种运动模式约束条件"

运动模式	膝关节角度 $α$	髋关节角度β
膝关节单关节	0°~-90°	0°
髋关节单关节	0°	-10°~30°
直线运动模式	0°~-120°	0°~50°
小圆弧运动模式	0°~-35°	0°~35°
圆周运动模式	0°~-120°	0°~50°
椭圆运动模式	0°~-120°	0°~50°

表2

图4

图5

图6

图7

图8

表3

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关节误差	1830 mm				1750 mm				1504 mm
关节误差	左髋	右髋	左膝	右膝	左髋	右髋	左膝	右膝	左髋	右髋	左膝	右膝
正向最大误差	0.3762	0.3854	0.4143	0.3267	0.2885	0.2786	0.2632	0.2654	0.2062	0.2127	0.1986	0.2031
最大正向反向	-0.3682	-0.3560	-0.4062	-0.3086	-0.2927	-0.2857	-0.2832	-0.2826	-0.2128	-0.2152	-0.2040	-0.2058

适应个体差异的下肢康复机器人步态规划与实现

Solution for Movement Mode of Lower Limb Rehabilitation Robot Adapted to Individual Differences

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关节活动	髋关节		膝关节
关节活动	屈	伸	屈	伸
人体关节活动度	125°	15°	130°	0°
下肢康复机器人运动范围	70°	15°	120°	0°

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