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

Abstract

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

CLC Number:

R496

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.

Figures/Tables 11

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°

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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

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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