用于截瘫患者康复训练的足底轮式驱动外骨骼

发布时间：2018-03-18 19:06

本文选题：动力外骨骼　切入点：截瘫　出处：《清华大学学报(自然科学版)》2017年06期 　论文类型：期刊论文

【摘要】：截瘫患者必须依赖辅具才能保证正常生活,而站立和行走是他们最迫切的需求。该文介绍了一种采用机械结构设计的动力下肢外骨骼,旨在帮助截瘫患者实现交替行走并提高其在康复训练中的参与度。该系统主要包括足底轮式驱动外骨骼和无线控制肘拐2部分。其中外骨骼由置于足底的定制轮毂电机驱动,而肘拐作为辅助器件主要用于保证行走平衡并通过内嵌的无线控制器控制外骨骼行走状态。交替按压左右肘拐上的控制按键可以实现连续行走,而整个行走过程可以完全由使用者实时地掌控。该外骨骼同时设计了电子刹车和最大步长机械限位用以保证使用安全。由一位健康受试者在三维步态分析系统中完成了穿外骨骼和不穿外骨骼情况下的运动对比实验。步态时空参数和运动学曲线表明:该外骨骼可辅助使用者安全而平稳地完成直立行走。
[Abstract]:Paraplegic patients have to rely on accessories to ensure a normal life, and standing and walking are their most urgent needs. This paper introduces a mechanical structure design of the dynamic lower limb exoskeleton. The system is designed to help paraplegic patients to walk alternately and increase their participation in rehabilitation training. The system consists of two parts: a plantar wheel-driven exoskeleton and a wirelessly controlled elbow. The exoskeleton is driven by a custom-made hub motor placed on the sole of the foot. The elbow is mainly used as an auxiliary device to ensure the walking balance and control the exoskeleton walking state through the embedded wireless controller. Alternately pressing the control key on the left and right elbow crutches can realize continuous walking. The exoskeleton also designed electronic brakes and maximum step size mechanical limits to ensure safe use. A healthy subject was used in a three-dimensional gait analysis system. The experimental results of motion comparison between exoskeleton and non-exoskeleton have been completed. The gait parameters and kinematics curves show that the exoskeleton can assist users to walk upright safely and smoothly.
【作者单位】：清华大学机械工程系摩擦学国家重点实验室;
【基金】：国家科技支撑计划项目(2012BAI34B02)
【分类号】：R496;TP242

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