膝关节康复外骨骼构型综合与结构设计

发布时间：2018-04-23 07:35

  本文选题：膝关节康复 + 自适应　； 参考：《哈尔滨工程大学学报》2017年04期

【摘要】：为了探讨膝关节自适应性康复外骨骼机构构型综合与结构设计问题,本文基于人体膝关节屈伸运动实验采集的数据,提取出膝关节运动瞬时螺旋参数;根据膝关节生理结构和膝关节螺旋轴的瞬变特性考究,建立人体膝关节的运动学模型。结合人-机运动相容性、人-机闭链自由度和人-机约束力矩作用性质分析,提出一种与人体膝关节运动相容的康复外骨骼机构构型;考虑结构简单性和穿戴舒适性,对膝关节康复外骨骼装置进行了结构设计,获得了一套可自适应人体膝关节转动轴线运动特性的膝关节康复外骨骼机构。
[Abstract]:In order to discuss the problem of configuration synthesis and structure design of knee joint self-adaptive rehabilitation exoskeleton mechanism, the instantaneous spiral parameters of knee joint motion were extracted based on the data collected from human knee joint flexion and extension motion experiment. According to the physiological structure of the knee joint and the transient characteristics of the spiral axis of the knee joint, the kinematic model of the human knee joint is established. Based on the analysis of human-machine motion compatibility, man-machine closed-chain freedom and human-machine constraint torque, a rehabilitation exoskeleton structure compatible with human knee joint motion is proposed, which considers the simplicity of structure and wear comfort. The structure design of knee joint rehabilitation exoskeleton device is carried out and a set of knee joint rehabilitation exoskeleton mechanism is obtained which can adapt the motion characteristics of knee joint rotation axis.
【作者单位】： 北京工业大学机械工程与应用电子技术学院;国家康复辅具研究中心;
【基金】：国家自然科学基金项目(61273342) 北京市自然科学基金项目(3132005)
【分类号】：R684
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本文编号：1791028