PP<span style=

doi:10.13973/j.cnki.robot.170703

摘要
图/表
参考文献
相关文章 (2)

全文: PDF (1336 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
李剑锋, 刘钧辉, 张雷雨, 陶春静, 季润, 赵朋波. PPRRRP和RRRPU肩关节康复外骨骼机构运动性能的分析比较[J]. 机器人, 2018, 40(4): 500-509,517.DOI: 10.13973/j.cnki.robot.170703. LI Jianfeng, LIU Junhui, ZHANG Leiyu, TAO Chunjing, JI Run, ZHAO Pengbo. Analysis and Comparison of the Kinematic Performance of PPRRRP andRRRPU for Shoulder Rehabilitation Mechanisms. ROBOT, 2018, 40(4): 500-509,517. DOI: 10.13973/j.cnki.robot.170703.

摘要基于外骨骼机构的构型综合和优选原则，提出PPRRRP和RRRPU两种外骨骼构型.在优选的构型中，通过在人机连接处引入被动关节，使外骨骼机构和人体上臂形成的人机闭链转化为3-DOF（自由度）运动学恰约束系统，实现人机运动学相容.从人机闭链整体的角度，分别建立PPRRRP和RRRPU人机闭链运动学模型，通过对被动关节的合理分解及运动学特征分析，推导其运动学约束方程，并分别求得两闭链的速度雅可比矩阵，该方法降低了人机闭链运动学分析的复杂性.通过对速度雅可比矩阵的数值仿真，在冠状面、矢状面和水平面对2种外骨骼构型进行条件数倒数、可操作度椭球以及灵巧操作速度的分析比较.结果表明：在上述3个面内，PPRRRP构型的运动灵活度、运动各向同性和速度操作灵巧性的运动学性能要优于RRRPU.在此基础上，研制了PPRRRP构型的上肢康复外骨骼样机.

	服务

	把本文推荐给朋友 RRRP和RRRPU肩关节康复外骨骼机构运动性能的分析比较”的文章，特向您推荐。请打开下面的网址：https://robot.sia.cn/CN/abstract/abstract4057.shtml" name="neirong">
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	李剑锋
	刘钧辉
	张雷雨
	陶春静
	季润
	赵朋波

关键词 ：肩关节康复, 外骨骼机构, 人机相容性, 可操作度椭球, 灵巧操作速度

Abstract：Based on the configuration synthesis and optimum principles of exoskeleton mechanism, PPRRRP and RRRPU exoskeleton configurations are proposed. In preferred configurations, the two human-machine closed chains which both consist of the exoskeleton mechanism and the human upper limb are translated into an 3-DOF (degree of freedom) exact kinematic constraints system by introducing passive joints at the connection position of the human and the exoskeleton, in order to realize kinematic compatibility. From the perspective of the whole human-machine closed chain, the kinematics models of the human-machine closed chains of PPRRRP and RRRPU are established. Through the reasonable decomposition and kinematic characteristics analysis of passive joints, the equations of kinematic constraint are deduced, and the velocity Jacobian matrices of the two human-machine closed chains are derived, and the complexities of the human-machine closed kinematic chains are reduced by this algorithm. Through the numerical simulation of velocity Jacobian matrices, reciprocal of condition number, manipulability ellipsoid and dexterous operating velocity of the two mechanisms mentioned above are analyzed and compared in the coronal plane, sagittal plane and horizontal plane. The results show that the dexterity, isotropy and dexterity of operating velocity of the PPRRRP mechanism are better than those of the RRRPU in the above three planes. On this basis, an upper limb rehabilitation exoskeleton of PPRRRP is designed.

Key words： shoulder joint rehabilitation exoskeleton mechanism human-machine compatibility manipulability ellipsoid dexterous operating velocity

收稿日期: 2017-12-28 录用日期: 2018-03-12

TP24

基金资助:国家自然科学基金（51675008，51705007）；北京市自然科学基金（17L20019，3171001）；中国博士后科学基金（2016M600021）；北京市博士后基金（2017-ZZ-038）；北京市科技计划（Z161100001516004，KM201810005015）

通讯作者: 张雷雨,zhangleiyu1988@126.com E-mail: zhangleiyu1988@126.com

作者简介: 李剑锋(1964-),男,博士,教授.研究领域:机器人机构学和穿戴外骨骼技术.
刘钧辉(1990-),男,硕士生.研究领域:康复机器人机构学.
张雷雨(1988-),男,博士,讲师.研究领域:机器人机构学和穿戴外骨骼技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170703 或 https://robot.sia.cn/CN/Y2018/V40/I4/500

[1] Niyetkaliyev A S, Hussain S, Ghayesh M H, et al. Review on design and control aspects of robotic shoulder rehabilitation orthoses[J]. IEEE Transactions on Human-Machine Systems, 2017, 47(6):1134-1145.
[2] Jarrassé N, Proietti T, Crocher V, et al. Robotic exoskeletons:A perspective for the rehabilitation of arm coordination in stroke patients[J]. Frontiers in Human Neuroscience, 2014, 8:No.947.
[3] Jarrassé N, Morel G. Connecting a human limb to an exoskeleton[J]. IEEE Transactions on Robotics, 2012, 28(3):697-709.
[4] Li J F, Zhang Z Q, Tao C J, et al. Structure design of lower limb exoskeletons for gait training[J]. Chinese Journal of Mechanical Engineering, 2015, 28(5):878-887.
[5] Park H S, Ren Y, Zhang L Q. IntelliArm:An exoskeleton for diagnosis and treatment of patients with neurological impairments[C]//2nd IEEE/RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics. Piscataway, USA:IEEE, 2008:109-114.
[6] Ren Y, Park H S, Zhang L Q. Developing a whole-arm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation[C]//IEEE International Conference on Rehabilitation Robotics. Piscataway, USA:IEEE, 2009:761-765.
[7] Ball S J, Brown I E, Scott S H. MEDARM:A rehabilitation robot with 5DOF at the shoulder complex[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, USA:IEEE, 2007.
[8] Nef T, Guidali M, Riener R. ARMin Ⅲ——Arm therapy exoskeleton with an ergonomic shoulder actuation[J]. Applied Bionics and Biomechanics, 2009, 6(2):127-142.
[9] Nef T, Mihelj M, Colombo G, et al. ARMin——Robot for rehabilitation of the upper extremities[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2006:3152-3157.
[10] Koo D, Chang P H, Sohn M K, et al. Shoulder mechanismdesign of an exoskeleton robot for stroke patient rehabilitati-on[C]//IEEE International Conference on Rehabilitation Robo-tics. Piscataway, USA:IEEE, 2011.
[11] Otten A, Voort C, Stienen A, et al. LIMPACT:A hydraulically powered self-aligning upper limb exoskeleton[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(5):2285-2298.
[12] Rab G T. Shoulder motion description:The ISB and Globe methods are identical[J]. Gait & Posture, 2008, 27(4):702-705.
[13] Wu G, van der Helm F C T, Veeger H E J, et al. ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion——Part Ⅱ:Shoulder, elbow, wrist and hand[J]. Journal of Biomechanics, 2005, 38(5):981-992.
[14] Kim B, Deshpande A D, Kim B, et al. An upper-body rehabilitation exoskeleton harmony with an anatomical shoulder mechanism:Design, modeling, control, and performance evaluation[J]. International Journal of Robotics Research, 2017, 36(4):414-435.
[15] Klopcar N, Lenarcic J. Bilateral and unilateral shoulder girdle kinematics during humeral elevation[J]. Clinical Biomechanics, 2006, 21(S1):S20-S26.
[16] 陈文斌.人体上肢运动学分析与类人肢体设计及运动规划[D].武汉:华中科技大学,2012. Chen W B. Human upper limb kinematics and anthropomorphic robot kinematic design and motion planning[D]. Wuhan:Huazhong University of Science and Technology, 2012.
[17] 黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006. Huang Z, Zhao Y S, Zhao T S. Advanced spatial mechanism[M]. Beijing:Higher Education Press, 2006.
[18] Klamroth-Marganska V, Blanco J, Campen K, et al. Three-dimensional, task-specific robot therapy of the arm after stroke:A multicentre, parallel-group randomised trial[J]. Lancet Neurology, 2014, 13(2):159-166.
[19] Li J F, Zhang Z Q, Tao C J, et al. A number synthesis method of the self-adapting upper-limb rehabilitation exoskeletons[J]. International Journal of Advanced Robotic Systems, 2017, 14(3):1-14.
[20] 李剑锋,袁树峥,范金红,等.人体上肢运动的雅克比矩阵与灵活性分析[J].上海交通大学学报,2014,48(2):173-180. Li J F, Yuan S Z, Fan J H, et al. Jacobian matrix and kinematic dexterity analysis of human upper limb motion[J]. Journal of Shanghai Jiaotong University, 2014, 48(2):173-180.
[21] 中华人民共和国国家技术监督局.GB/T10000-1988中国成年人人体尺寸[S].北京:中国标准出版社,1989. General Administration of Quality Supervision, Inspection and Quarantine of People's Republic of China. GB/T10000-1988 Human dimensions of Chinese adults[S]. Beijing:Standards Press of China, 1989.
[22] Yoshikawa T. Manipulability of robotic mechanisms[J]. International Journal of Robotics Research, 1985, 4(2):3-9.
[23] Rozo L, Jaquier N, Calinon S, et al. Learning manipulability ellipsoids for task compatibility in robot manipulation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2017:3183-3189.
[24] 谢碧云,赵京.基于条件数约束的方向可操作度[J].机械工程学报,2010,46(23):8-15. Xie B Y, Zhao J. Directional manipulability constrained by the condition number[J]. Journal of Mechanical Engineering, 2010, 46(23):8-15.
[25] 李剑锋,张玉茹.手指机构的速度操作灵巧性分析[J].机器人,1999,21(2):110-116. Li J F, Zhang Y R. Dexterity analysis on manipulating velocities of finger mechanisms[J]. Robot, 1999, 21(2):110-116.