上肢康复外骨骼重力平衡特性研究
发布时间：2018-07-14 12:18
【摘要】：为了辅助偏瘫患者进行上肢运动功能康复训练,研制了一种具有重力平衡特性的上肢康复外骨骼机器人系统.首先介绍了外骨骼的机械结构设计以及基于Matlab/RTW环境的半物理实时控制平台.然后基于辅助平衡法建立了系统重力平衡模型,通过添加零初始长度弹簧以及辅助连杆来平衡外骨骼和人体手臂在康复训练过程中受到的重力.最后通过仿真和实验,比较不同平衡条件下所需要施加的关节驱动力矩和肱二头肌的表面肌电信号强度.在仿真中,重力平衡状态下的平均关节驱动力矩为非重力平衡状态下的14.89%.在两种不同任务的实验中,重力平衡状态下的表面肌电信号强度分别为非重力平衡状态下的57.61%和63.49%.结果表明,实现外骨骼的重力平衡可以有效减小工作过程中的驱动力矩以及能量消耗,并降低对驱动设备的性能要求.
[Abstract]:An exoskeleton robot system for upper limb rehabilitation with gravity balance was developed to assist hemiplegic patients in the rehabilitation of upper limb motor function. Firstly, the mechanical structure design of exoskeleton and the semi-physical real-time control platform based on Matlab / RTW environment are introduced. Then the gravity balance model of the system is established based on the auxiliary balance method. The gravity of exoskeleton and human arm is balanced by adding zero initial length spring and auxiliary connecting rod in the course of rehabilitation training. Finally, the joint driving torque and the intensity of the surface electromyography of biceps brachii are compared under different equilibrium conditions by simulation and experiment. In the simulation, the average joint driving torque in gravity equilibrium is 14.89 in non-gravity equilibrium. In the experiments of two different tasks, the intensity of surface EMG signals in gravity equilibrium state is 57.61% and 63.49% of that in non-gravity equilibrium state, respectively. The results show that the gravity balance of exoskeleton can effectively reduce the driving torque and energy consumption and reduce the performance requirements of the drive equipment.
【作者单位】： 南京航空航天大学机电学院;东南大学机械工程学院;
【基金】：国家自然科学基金(51575256,51575100) 南京航空航天大学基本科研业务费(NS2013042)
【分类号】：TP242
本文编号：2121620
[Abstract]:An exoskeleton robot system for upper limb rehabilitation with gravity balance was developed to assist hemiplegic patients in the rehabilitation of upper limb motor function. Firstly, the mechanical structure design of exoskeleton and the semi-physical real-time control platform based on Matlab / RTW environment are introduced. Then the gravity balance model of the system is established based on the auxiliary balance method. The gravity of exoskeleton and human arm is balanced by adding zero initial length spring and auxiliary connecting rod in the course of rehabilitation training. Finally, the joint driving torque and the intensity of the surface electromyography of biceps brachii are compared under different equilibrium conditions by simulation and experiment. In the simulation, the average joint driving torque in gravity equilibrium is 14.89 in non-gravity equilibrium. In the experiments of two different tasks, the intensity of surface EMG signals in gravity equilibrium state is 57.61% and 63.49% of that in non-gravity equilibrium state, respectively. The results show that the gravity balance of exoskeleton can effectively reduce the driving torque and energy consumption and reduce the performance requirements of the drive equipment.
【作者单位】： 南京航空航天大学机电学院;东南大学机械工程学院;
【基金】：国家自然科学基金(51575256,51575100) 南京航空航天大学基本科研业务费(NS2013042)
【分类号】：TP242
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