上肢康复外骨骼重力平衡特性研究

doi:10.13973/j.cnki.robot.2017.0081

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吴青聪, 王兴松, 吴洪涛, 陈柏. 上肢康复外骨骼重力平衡特性研究[J]. 机器人, 2017, 39(1): 81-88,98.DOI: 10.13973/j.cnki.robot.2017.0081. WU Qingcong, WANG Xingsong, WU Hongtao, CHEN Bai. Research on the Gravity Balance Characteristics of an Upper Limb Rehabilitation Exoskeleton. ROBOT, 2017, 39(1): 81-88,98. DOI: 10.13973/j.cnki.robot.2017.0081.

摘要为了辅助偏瘫患者进行上肢运动功能康复训练，研制了一种具有重力平衡特性的上肢康复外骨骼机器人系统．首先介绍了外骨骼的机械结构设计以及基于Matlab/RTW环境的半物理实时控制平台．然后基于辅助平衡法建立了系统重力平衡模型，通过添加零初始长度弹簧以及辅助连杆来平衡外骨骼和人体手臂在康复训练过程中受到的重力．最后通过仿真和实验，比较不同平衡条件下所需要施加的关节驱动力矩和肱二头肌的表面肌电信号强度．在仿真中，重力平衡状态下的平均关节驱动力矩为非重力平衡状态下的14.89%．在两种不同任务的实验中，重力平衡状态下的表面肌电信号强度分别为非重力平衡状态下的57.61%和63.49%．结果表明，实现外骨骼的重力平衡可以有效减小工作过程中的驱动力矩以及能量消耗，并降低对驱动设备的性能要求．

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	吴青聪

关键词 ：上肢, 康复训练, 外骨骼机器人, 重力平衡, 辅助平衡法

Abstract：For the purpose of assisting stroke patients to perform upper limb rehabilitation training, a gravity balanced rehabilitation exoskeleton robot system is presented. Firstly, the mechanical structure of the exoskeleton and the Matlab/RTW-based semi-physical real-time control system are described. Then, the gravity balance model of the entire system is established based on the auxiliary balance method. Several zero-free-length springs and auxiliary links are utilized to balance the gravities acting upon the exoskeleton and the human arm during rehabilitation training. Finally, simulations and experiments are carried out to compare the driving torque of each joint and the surface electromyogram signal (sEMG) activities of biceps under different balance conditions. In the simulations, the average driving torque under the balance condition is about 14.89% of that under unbalance condition. The sEMG activities under the balance condition are about 57.61% and 63.49% of those under the unbalance condition while conducting two different experimental tasks. The results demonstrate the effectiveness of gravity balance in reducing driving torques and energy consumption, as well as the performance requirement of actuators.

Key words： upper limb rehabilitation training exoskeleton robot gravity balance auxiliary balance method

收稿日期: 2016-09-05 录用日期: 2016-12-13

TH122

基金资助:国家自然科学基金（51575256，51575100）；南京航空航天大学基本科研业务费（NS2013042）

通讯作者: 陈柏，chenbye@126.com E-mail: chenbye@126.com

作者简介: 吴青聪（1988-），男，博士，讲师．研究领域：机器人动力学及其控制，康复机器人，先进医疗器械等．
王兴松（1965-），男，博士，教授，博士生导师．研究领域：机器人动力学及其控制，生物机械电子，先进医疗器械等．
吴洪涛（1962-），男，博士后，教授，博士生导师．研究领域：机器人学及智能机器，机械多体系统，并联运动学机器等．

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0081 或 https://robot.sia.cn/CN/Y2017/V39/I1/81

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