下肢外骨骼康复机器人系统设计与研究

发布时间：2018-01-19 21:43

本文关键词： 外骨骼机器人步态下肢行走　出处：《控制工程》2017年07期 　论文类型：期刊论文

【摘要】：针对脑卒中等神经系统损伤造成的运动功能障碍,原位康复是有效的康复手段。下肢助力外骨骼机器人能够帮助患有下肢运动碍的患者实现行走或者康复训练,满足原位康复要求。设计了一款下肢助力外骨骼,此外骨骼单腿有5个自由度,膝关节和髋关节在矢状平面的屈伸是主动关节,每1个关节由滚珠丝杠和滑块摇杆机构组成,踝关节的背/跖屈采用弹簧来提高阻尼。分析了传动机构的传动特点,组建了外骨骼系统,包括传感器、总线结构、电源等。利用vicon运动捕捉系统采集人体关节的运动轨迹,作为外骨骼关节的参考轨迹。最后,在实验样机上进行了实验,结果表明,在拐杖帮助下,外骨骼机器人能够按照预定义的轨迹行走,能够实现对轨迹跟踪。
[Abstract]:In view of motor dysfunction caused by neurological injury such as stroke, in situ rehabilitation is an effective means of rehabilitation. Lower extremity assisted exoskeleton robot can help patients with lower extremity dyskinesia to achieve walking or rehabilitation training. To meet the requirements of in-situ rehabilitation, a lower extremity assisted exoskeleton was designed. In addition, one leg has five degrees of freedom, and the flexion and extension of the knee and hip joints in the sagittal plane are active joints. Each joint is composed of ball screw and slider rocker mechanism, and the back / metatarsal flexion of ankle joint is improved by spring. The transmission characteristics of transmission mechanism are analyzed, and the exoskeleton system, including sensor, is constructed. Bus structure, power supply and so on. Using vicon motion capture system to collect the motion trajectory of human joints as the reference trajectory of exoskeleton joint. Finally, the experiment is carried out on the experimental prototype, the results show that. With the help of crutches, the exoskeleton robot can follow the predefined trajectory and track it.
【作者单位】：中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院大学;燕山大学机械工程学院;
【基金】：国家高技术研究发展计划资助项目(2015AA042302)
【分类号】：TP242
【正文快照】： 3.燕山大学机械工程学院,,秦皇岛066004)脊髓损伤或脑卒中等神经系统疾病会导致患者不同程度的下肢运动障碍,再加上一些物理性损伤如交通事故和高空坠落等,下肢运动障碍患者逐年增加。脊髓损伤病人给医疗系统带来了很大的压力[1]。我国有脊髓损伤者超过100万人,并以每年约1万

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