多位姿下肢康复机器人床身高度自动调整算法

doi:10.3969/j.issn.1006-9771.2021.11.001

《中国康复理论与实践》 ›› 2021, Vol. 27 ›› Issue (11): 1241-1246.doi: 10.3969/j.issn.1006-9771.2021.11.001

• 专题辅助技术及临床应用 • 上一篇下一篇

多位姿下肢康复机器人床身高度自动调整算法

陈琳,张学涛,李浪,王号,李泰薇,潘海鸿()

广西大学机械工程学院,广西南宁市 530004

收稿日期:2021-06-02 修回日期:2021-08-09 出版日期:2021-11-25 发布日期:2021-12-03
通讯作者: 潘海鸿 E-mail:hustphh@163.com
作者简介:陈琳(1973-),女,汉族,广西南宁市人,博士,教授,主要研究方向：智能机器人技术、电池管理、机电检测与控制技术。
基金资助:
广西创新驱动发展专项(AA17204017)

Automatic Adjustment Algorithm of Bed Height for Multi-position Lower Limb Rehabilitation Robot

CHEN Lin,ZHANG Xue-tao,LI Lang,WANG Hao,LI Tai-wei,PAN Hai-hong()

College of Mechanical Engineering, Guangxi University, Nanning, Guangxi 530004, China

Received:2021-06-02 Revised:2021-08-09 Published:2021-11-25 Online:2021-12-03
Contact: PAN Hai-hong E-mail:hustphh@163.com
Supported by:
Guangxi Innovation-driven Development Project(AA17204017)

摘要/Abstract

摘要：

目的设计多位姿下肢康复机器人床身高度自动调整算法,以适应患者腿长和训练模式的差异,避免康复机器人与地面碰撞。方法根据多位姿下肢康复机器人的6种训练模式和人体关节约束条件,建立不同模式下机器人床身高度与患者腿长和床身翻转角度的数学模型,分析机械间隙和挠变以及运动过程中腿部支架的抖动误差可能造成的影响;开发相关软件实现床身自动调整。招募志愿者10例进行实测。结果床身高度实验测试数据与理论计算数据一致,间隙及挠变不影响床身高度理论计算。训练过程中,机器人下肢末端始终与地面保持在设定的安全距离以上。结论建立的算法能根据患者腿长、训练模式、床身翻转角度实现床身自动调整,保证设备运行在安全范围。

关键词: 多位姿下肢康复机器人, 床身高度, 自动调整

Abstract:

Objective To develop an automatic adjustment algorithm of bed height of multi-position lower limb rehabilitation robot, to meet the variety of leg lengths and training modes to avoid the collision between robot and ground.Methods Six mathematical models of robot bed body height were established for six training modes of multi-position lower limb rehabilitation robot, which were described with leg length and bed tilt angle. The influence was analyzed that mechanical clearance and deflection as well as the jitter error of leg bracket during movement. Furthermore, a software related to these models was developed to automatically adjust the bed height for training. Volunteers were recruited to test actually.Results The test data of bed height are consistent with the theoretical calculation of six mathematical models. Clearance and deflection did not affect the theoretical results of bed height. The end of robot's lower limb was always above the safe height during rehabilitation training.Conclusion The automatic adjustment algorithm of bed height has been established, which can ensure that the rehabilitation robot runs at a safe height.

Key words: multi-position lower limb rehabilitation robot, height of bed, automatic adjustment

陈琳,张学涛,李浪,王号,李泰薇,潘海鸿. 多位姿下肢康复机器人床身高度自动调整算法[J]. 《中国康复理论与实践》, 2021, 27(11): 1241-1246.

CHEN Lin,ZHANG Xue-tao,LI Lang,WANG Hao,LI Tai-wei,PAN Hai-hong. Automatic Adjustment Algorithm of Bed Height for Multi-position Lower Limb Rehabilitation Robot[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(11): 1241-1246.

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测试者	大腿长l₁	小腿长l₂	总腿长L
1号	440	450	890
2号	460	440	900
3号	518	416	934
4号	480	460	940
5号	490	470	960
6号	590	410	1000
7号	610	430	1040
8号	550	500	1050
9号	630	450	1080
10号	550	550	1100

步态模式	膝关节角度θ₁	髋关节角度θ₂
膝关节模式	0°~-90°	0°
髋关节模式	0°	-10°~30°
直线模式	0°~-120°	0°~50°
小圆弧模式	0°~-35°	0°~35°
圆周模式	0°~-120°	0°~50°
椭圆模式	0°~-120°	0°~50°

多位姿下肢康复机器人床身高度自动调整算法

Automatic Adjustment Algorithm of Bed Height for Multi-position Lower Limb Rehabilitation Robot

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