The standing-up mechanism of a multifunction walking assistance robot is developed to help the patients with lower limb diseases to stand-up normally, and only one actuator is used for motion control. The normal people's standing-up kinematics of hip, knee, ankle joints are obtained by an information measurement system, which is composed of a joint angle measuring system, a metronome and the dSPACE semi-physical simulation platform. Based on that information, the kinematic simulation of normal people's standing-up is analyzed by SimMechanics. By immigrating the hip's motion, the motion of the end-effector of the standing-up mechanism is designed. In human experiment, volunteers can stand up from sitting with the help of the prototype of walking assistance robot.
[1] 蒋戈利.康复医学发展趋势及设想[J].解放军医药杂志, 2013, 25(1):1-5.Jiang G L. Development tendency and ideas of rehabilitation medicine[J]. Medical & Pharmaceutical Journal of Chinese People's Liberation Army, 2013, 25(1): 1-5.[2] 李红.康复护理教育现状及对策探略[J].江汉大学学报:自然科学版, 2012, 40(5):102-104.Li H. The situation of rehabilitation education and countermeasure research[J]. Journal of Jianghan University: Natural Science Edition, 2012, 40(5): 102-104.[3] 李建军.中国康复医学发展的回顾与展望[J].中国康复理论与实践, 2011, 17(1):1-4.Li J J. Advance in rehabilitation medicine in China: Review and prospects[J]. Chinese Journal of Rehabilitation Theory and Practice, 2011, 17(1): 1-4.[4] 郑洁皎, 俞卓伟, 梁贞文, 等.人口老龄化给康复医学带来的挑战[J].中国实用内科杂志, 2012, 32(9):653-655.Zheng J J, Yu Z W, Liang Z W, et al. Challenges of population aging to rehabilitation medicine[J]. Chinese Journal of Practical Internal Medicine, 2012, 32(9): 653-655.[5] Fattah A, Agrawal S K, Catlin G, et al. Design of a passive gravity-balanced assistive device for sit-to-stand tasks[J]. Journal of Mechanical Design, 2006, 128(5): 1122-1129. [6] Music J, Kamnik R, Munih M. Model based inertial sensing of human body motion kinematics in sit-to-stand movement[J]. Simulation Modelling Practice and Theory, 2008, 16(8): 933-944. [7] Kamnik R, Bajd T. Human voluntary activity integration in the control of a standing-up rehabilitation robot: A simulation study[J]. Medical Engineering & Physics, 2007, 29(9): 1019-1029. [8] Previdi F, Ferrarin M, Savaresi S M, et al. Closed-loop control of FES supported standing up and sitting down using virtual reference feedback tuning[J]. Control Engineering Practice, 2005, 13(9): 1173-1182. [9] Mederic P, Pasqui V, Plumet F, et al. Sit to stand transfer assisting by an intelligent walking-aid[C]//Proceedings of the 7th International Conference CLAWAR. Berlin, Germany: Springer, 2005: 1127-1135.[10] 姜洪源, 马长波, 李姗姗.一种新型辅助起立康复机器人的设计及逆运动学分析[J].中国康复医学杂志, 2009, 24(2):162-164.Jiang H Y, Ma C B, Li S S. The design and analysis of inverse kinematics of a new kind of standing-up assistance rehabilitation robot[J]. Chinese Journal of Rehabilitation Medicine, 2009, 24(2): 162-164.[11] 周倩.协助站起机器人的数据采集及协助力分析[D].济南:山东大学, 2008.Zhou Q. Data collection and assisting force analysis of sit-to-stand transfer assisting robot[D]. Jinan: Shandong University, 2008.[12] 张立勋, 伊蕾, 白大鹏.六连杆助行康复机器人生理学运动规划研究[J].高技术通讯, 2011, 21(8):830-835.Zhang L X, Yi L, Bai D P. Research on physiology motion planning of walking assistance robot[J]. High Technology Letters, 2011, 21(8): 830-835.