摘要
为了更好地辅助偏瘫患者的康复训练,设计了一种基于盘式电机驱动的下肢康复外骨骼机器人,并通过助力效果可视化研究与性能分析来验证其不同康复训练模式的有效性。首先,对下肢康复外骨骼机器人的结构进行了详细设计,并利用OpenSim软件进行了人机耦合的生物力学分析。然后,开展了基于位置跟踪控制的被动康复训练实验以及抗阻康复训练实验并采集表面肌电信号,验证了所设计下肢康复外骨骼机器人在不同模式下辅助患者康复训练的有效性。结果表明,穿戴下肢康复外骨骼机器人能使人体膝关节的力矩减小50%左右;在被动康复训练实验中,跟随误差为-4°~8°,且人体下肢目标肌群的肌肉激活度呈明显的周期性变化;在抗阻康复训练实验中,人体下肢目标肌群的肌肉激活度随负重的增加而提高。所设计的下肢康复外骨骼机器人具有良好的灵敏性和跟随性,其被动及抗阻康复训练模式均有助于偏瘫患者下肢的康复,具有广阔的应用前景。
In order to better assist the rehabilitation training for hemiplegic patients,a lower limb rehabilitation exoskeleton robot driven by disk motor is designed,and the effectiveness of its different rehabilitation training modes is verified through visualization research of power-assisted effect and performance analysis.Firstly,the detailed structural design for the lower limb rehabilitation exoskeleton robot was performed,and the biomechanical analysis of human-machine coupling was carried out by using OpenSim software.Then,the passive rehabilitation training experiment based on position tracking control and resistance rehabilitation training experiment were carried out,and the surface electromyographic signals were collected to verify the effectiveness of the designed lower limb rehabilitation exoskeleton robot to assist patients in rehabilitation training under different modes.The results showed that wearing lower limb rehabilitation exoskeleton robot could reduce the human knee joint torque by about 50%.In the passive rehabilitation training experiment,the following error was within-4°-8°,and the muscle activation of the target muscle group of human lower limbs showed an obvious periodic change.In the resistance rehabilitation training experiment,the muscle activation of the target muscle group of human lower limbs increased with the increase of weight.The designed lower limb rehabilitation exoskeleton robot has good sensitivity and followability,and its passive and resistance rehabilitation training modes are conducive to lower limb rehabilitation of hemiplegia patients,which has broad application prospect.
作者
常佳辰
韩亚丽
孙翰
史传棋
赵天
CHANG Jiachen;HAN Yali;SUN Han;SHI Chuanqi;ZHAO Tian(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《工程设计学报》
CSCD
北大核心
2024年第2期210-220,共11页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(51205182)
江苏省重点研发计划(社会发展项目)(BE2019724)
江苏省研究生科研与实践创新计划项目(SJCX21_0915)。
关键词
下肢康复外骨骼机器人
康复训练
生物力学分析
位置跟踪控制
肌肉激活度
lower limb rehabilitation exoskeleton robot
rehabilitation training
biomechanical analysis
position tracking control
muscle activation
