功能性电刺激与机械外骨骼融合的膝关节康复装置的设计与实现

发布时间：2019-03-14 07:33

【摘要】：目的:设计一种新型的膝关节康复装置,融合了功能性电刺激和机械外骨骼,使其能够发挥两种康复技术的优点,同时弥补各自的缺陷,实现一种更加优化的康复辅助模式。方法:该康复装置采用串联弹性驱动器作为膝关节外骨骼的动力驱动装置,并设计了相应的人机交互机构保证良好的力矩传递。驱动电机采用交流伺服电机,并与减速器相连保证足够的转矩。减速器输出轴和腿部支撑件之间通过弹性元件相连。与刚性驱动器相比,串联弹性驱动器具有防止过大的力冲激、可以实现稳定的力矩控制、储存和释放能量等优点,适用于人机交互领域。膝关节外骨骼还融合了模拟编码器、接触力传感器等便于进行反馈控制。结果:制作了原型机并进行了初步的实验验证,结果显示该膝关节康复装置能够实现较为精确的轨迹追踪,并且能够平衡电刺激和机械外骨骼的辅助力矩。结论:本文设计的混合式膝关节康复装置能够使两种康复技术无干扰地结合,为康复工程提供了一种新的思路。
[Abstract]:Aim: to design a new rehabilitation device for knee joint, which combines functional electrical stimulation and mechanical exoskeleton, so that it can exert the advantages of two kinds of rehabilitation techniques, and at the same time make up for their defects, so as to realize a more optimized rehabilitation assistant mode. Methods: a series elastic actuator was used to drive the exoskeleton of knee joint, and the corresponding human-computer interaction mechanism was designed to ensure good torque transfer. The drive motor adopts AC servo motor and is connected with the reducer to ensure sufficient torque. The output shaft of the reducer and the leg support are connected by an elastic element. Compared with rigid actuators, series elastic actuators have many advantages, such as preventing excessive force impulse, achieving stable torque control, storing and releasing energy, etc., and are suitable for human-computer interaction. Knee exoskeleton also combines analog encoders and contact force sensors for feedback control. Results: the prototype was made and a preliminary experiment was carried out. The results showed that the knee rehabilitation device could track the track accurately and balance the electric stimulation and the auxiliary moment of the mechanical exoskeleton. Conclusion: the hybrid knee rehabilitation device designed in this paper can combine the two rehabilitation techniques without interference, which provides a new way of thinking for rehabilitation engineering.
【作者单位】：上海交通大学机械系统与振动国家重点实验室;
【基金】：国家自然科学基金(51475292) 上海市自然科学基金(14ZR1421300)
【分类号】：R496

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