考虑跖趾关节运动的踏板式步行康复机器人运动规划

doi:10.3724/SP.J.1218.2014.00330

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秦涛, 张立勋. 考虑跖趾关节运动的踏板式步行康复机器人运动规划[J]. 机器人, 2014, 36(3): 330-336.DOI: 10.3724/SP.J.1218.2014.00330. QIN Tao, ZHANG Lixun. Motion Planning of a Footpad-type Walking Rehabilitation Robot Considering Motion of Metatarsophalangeal Joint. ROBOT, 2014, 36(3): 330-336. DOI: 10.3724/SP.J.1218.2014.00330.

摘要

基于人正常步行时足部的运动特征，提出了一种利用机械约束即能实现步行时踝关节和跖趾关节运动姿态模拟的踏板式步行康复机器人，帮助老年人及偏瘫患者进行步行康复训练．通过分析步行时跖趾关节的背屈过程，对前踏板的运动姿态进行规划，并以此确定了约束导轨的轨迹．按照人正常平地步行过程对步行训练时双侧踏板的运动时序进行了规划，并根据步行时的时相分布关系规划了双侧曲柄的转速．利用MATLAB软件建立步行康复机器人的运动学仿真模型，验证了运动规划的可行性，说明该步行康复机器人可以模拟正常人步行时的步态及踝关节和跖趾关节的运动姿态，能够满足步行康复训练的要求．

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关键词 ：跖趾关节, 足部运动, 踏板, 步行康复机构, 运动规划

Abstract：

A footpad-type walking rehabilitation robot is designed to help the elderly and hemiplegic patients walking training based on the foot motion feature during human normal walking, which can simulate the motion attitudes of the ankle joint and metatarsophalangeal (MTP) joint during normal walking by using mechanical constraints. The fore-footpad rotation angle is planned and the trajectory of the constraint rail is obtained by analyzing the dorsiflexion process of MTP joint during normal walking. The time sequence of bilateral footpads motion during a complete training process is planned according to the complete process during human normal walking on level ground, and angular velocities of the cranks are planned based on the phase distribution relationship during normal walking. The kinematics simulation model of the walking rehabilitation robot is established to verify the feasibility of the motion planning, which show that the robot can simulate the normal gait and the motion attitude of the ankle joint and MTP joint during normal walking, and can meet the requirements of walking rehabilitation training.

Key words： metatarsophalangeal (MTP) joint foot motion footpad walking rehabilitation mechanism motion planning

收稿日期: 2013-08-14 录用日期: 2013-11-17

TP242

基金资助:

国家自然科学基金资助项目（61175128）；国家863计划资助项目（2008AA040203）

通讯作者: 张立勋，zhanglixun@hrbeu.edu.cn E-mail: zhanglixun@hrbeu.edu.cn

作者简介: 秦涛（1987- ），男，博士生．研究领域：机器人技术．
张立勋（1962- ），男，博士，教授，博士生导师．研究领域：机器人技术，机电一体化技术．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2014.00330 或 https://robot.sia.cn/CN/Y2014/V36/I3/330

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