许祥, 侯丽雅, 黄新燕, 章维一. 基于外骨骼的可穿戴式上肢康复机器人设计与研究[J]. 机器人, 2014, 36(2): 147-155. DOI: 10.3724/SP.J.1218.2014.00147
引用本文: 许祥, 侯丽雅, 黄新燕, 章维一. 基于外骨骼的可穿戴式上肢康复机器人设计与研究[J]. 机器人, 2014, 36(2): 147-155. DOI: 10.3724/SP.J.1218.2014.00147
XU Xiang, HOU Liya, HUANG Xinyan, ZHANG Weiyi. Design and Research of a Wearable Robot for Upper Limbs Rehabilitation Based on Exoskeleton[J]. ROBOT, 2014, 36(2): 147-155. DOI: 10.3724/SP.J.1218.2014.00147
Citation: XU Xiang, HOU Liya, HUANG Xinyan, ZHANG Weiyi. Design and Research of a Wearable Robot for Upper Limbs Rehabilitation Based on Exoskeleton[J]. ROBOT, 2014, 36(2): 147-155. DOI: 10.3724/SP.J.1218.2014.00147

基于外骨骼的可穿戴式上肢康复机器人设计与研究

Design and Research of a Wearable Robot for Upper Limbs Rehabilitation Based on Exoskeleton

  • 摘要: 为辅助对患肢进行高强度标准化康复训练工作,研制了一种基于外骨骼原理的可穿戴式4自由度上肢康复机器人.该康复机器人可实现肩关节水平方向外展/内收、竖直方向上摆/下摆和旋转运动以及肘关节的屈/伸运动.首先根据康复医学原理确定出人手臂各关节的运动角度范围,并在确保驱动力矩最小的原则下进行结构设计.然后,对各结构进行了运动学与动力学仿真分析,并据此对结构进行优化.最后,设计了康复机器人在连续被动康复运动(CPM)模式下的控制系统.实验结果表明,此结构方便穿戴于人体,机器人的运动自由度与人体运动自由度同轴,能有效地对患肢前、后臂各部位进行支撑和牵引,精确地施加牵引力于上肢的各关节.

     

    Abstract: In order to assist limbs to perform the standardized and intensive rehabilitation training, a 4-DOF wearable robot for upper limbs rehabilitation based on exoskeleton is developed. The rehabilitation robot can realize the vertical outreach/adduction, horizontal up/down motion, and the supination/pronation motion of the shoulder and the flexion/extension motion of the elbow. Firstly, each joint's motion angle of the human arm is identified according to the rehabilitation medicine, and the structure of the rehabilitation robot is designed under the principle of minimum driving moment. Then, the kinematics and dynamics simulation is carried out to analyze the structure, and the structural optimization is completed accordingly. Finally, the control system is designed for the continuous passive mode in the recovery motion. The experiment result shows that the structure is convenient to wear, degrees of freedom of the robot's motion are coaxial to that of the human upper limbs' motion, it can support and draw each part of the affected arms effectively, and traction force can be applied to each joint of the upper limbs accurately.

     

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