理疗师交互下的下肢康复训练机器人个性化步态规划方法

doi:10.13973/j.cnki.robot.180139

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郭冰菁, 韩建海, 李向攀, 张彦斌, 尤爱民. 理疗师交互下的下肢康复训练机器人个性化步态规划方法[J]. 机器人, 2018, 40(4): 479-490,499.DOI: 10.13973/j.cnki.robot.180139. GUO Bingjing, HAN Jianhai, LI Xiangpan, ZHANG Yanbin, YOU Aimin. Personalized Gait Planning Method for the Lower-Limb Rehabilitation Training Robotwith the Physiotherapist Interaction. ROBOT, 2018, 40(4): 479-490,499. DOI: 10.13973/j.cnki.robot.180139.

摘要针对偏瘫患者的个体差异及病况差异，提出了一种理疗师交互下的下肢康复训练机器人步态规划方法，在理疗师-减重悬吊式康复训练机器人-患者三者共存的复杂环境中，理疗师穿戴主控外骨骼直接行走实现步态时空参数规划，并融入理疗师的医学经验及对患者的评估.首先，基于旋量理论建立运动学模型，实现理疗师空间与机器人空间的运动映射；然后，统一规划机器人关节运动轨迹、减重机构重心调整轨迹及跑步机步速.最后，通过理疗师步态参数的实时采集、运动映射实验及机器人轨迹跟踪实验，验证了步态时空规划方法的有效性.结果表明，髋、膝关节规划角度在人体关节活动范围内，速度变化平稳，关节轨迹规划和重心调整规划均符合人体行走的生理特性.理疗师的参与实现了渐进康复训练中的个性化步态规划.

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	郭冰菁
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关键词 ：人机交互, 下肢康复训练机器人, 步态时空规划, 运动映射, 旋量理论

Abstract：A gait planning method for the lower-limb rehabilitation training robot with the physiotherapist interaction is proposed to solve the problems of individual differences and pathological conditions for stroke patients. In the complex environment where the physiotherapist, the body weight support treadmill training robot and the patient coexist, the physiotherapist wears on the master exoskeleton mechanism and walks directly to plan the space-time gait parameters. It integrates rehabilitation experience of the physiotherapist and the assessment of patients. Firstly, the kinematics model is established based on the screw theory, and the motion mapping is realized from the physiotherapist space to the robot space. Then, the joint moving trajectories of the robot, the gravity adjustment trajectory of the weight support mechanism and the walking velocity of the treadmill are planned as a whole. Finally, the effectiveness of the space-time gait planning method is verified by real-time acquisition of the physiotherapist gait parameters, motion mapping test and robot trajectory tracking tests. Results show that the planning angles of the hip and knee joints are in the range of human joint motion, and the angular velocities of the joints are smooth. The joint trajectory planning and gravity adjustment planning conform to the physiological characteristics of human walking. The participation of the physiotherapist achieves personalized gait planning in the progressive rehabilitation training.

Key words： space-time gait planning motion mapping screw theory human-machine interaction lower-limb rehabilitation training robot

收稿日期: 2018-02-12 录用日期: 2018-05-20

TP242

基金资助:河南省科技攻关计划（172102210036）；河南省自然科学基金（162300410082）

通讯作者: 韩建海,jianhaihan@haust.edu.cn E-mail: jianhaihan@haust.edu.cn

作者简介: 郭冰菁(1973-),女,博士生,副教授.研究领域:康复机器人,机器人控制.
韩建海(1961-),男,博士,教授.研究领域:机器人控制,机电一体化技术.
李向攀(1977-),男,博士,讲师.研究领域:机器人控制.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180139 或 https://robot.sia.cn/CN/Y2018/V40/I4/479

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