Dynamic analysis and parameter optimization of under-actuated heterogeneous lower limb rehabilitation robot

doi:10.3785/j.issn.1008-973X.2021.02.002

Journal of ZheJiang University (Engineering Science)

2021, Vol. 55

Issue (2): 222-228 DOI: 10.3785/j.issn.1008-973X.2021.02.002

Dynamic analysis and parameter optimization of under-actuated heterogeneous lower limb rehabilitation robot

Wei-da LI(

),Juan LI*(

),Xiang LI,Hong-miao ZHANG,Hong GU,Yi-peng SHI,Hao-jie ZHANG,Li-ning SUN

Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electrical Engineering, Suzhou University, Suzhou 215021, China

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Abstract

An under-actuated lower limb rehabilitation robot was proposed aiming at the problems of human-machine DOFS mismatch and poor joint neutrality of existing exoskeletons robots. The under-actuated robot system only has four linear drives. The linear motion driven by the robot is transformed into the flexion and extension of lower limbs in the sagittal plane through connecting rod and human-machine connection mechanism. Human-machine coupling model was established for robot systems, and then dynamics analysis was carried out. The parameters in the human-machine coupling model that affect dynamic results were analyzed, a method to analyze the relationship between driving force and limb driving force was proposed, then the parameters with the maximum thrust coefficient as the target were analyzed and optimized, and the best structural parameters were obtained. Finally, the rehabilitation robot system was established based on the optimized structural parameters. The driving force and the angle of hip and knee joints were compared. Experimental results showed that the maximum error of the hip joint angle was 2.9°, the maximum angle error of the knee joint was 6.4°, and the maximum errors were about 9%, which verified the correctness of the dynamic model and the parameter optimization results.

Key words： lower limb rehabilitation robot heterogeneous configuration under-actuated robot dynamics analysis parameter optimization

Received: 19 March 2020 Published: 09 March 2021

CLC:

TH 113.2

Fund: 国家重点研发计划资助项目（2018YFC2001304）；国家自然科学基金资助项目（51475314）

Corresponding Authors: Juan LI E-mail: hit_liweida@163.com;lijuan@sudu.edu.cn

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	Wei-da LI
	Juan LI
	Xiang LI
	Hong-miao ZHANG
	Hong GU
	Yi-peng SHI
	Hao-jie ZHANG
	Li-ning SUN

Cite this article:

Wei-da LI,Juan LI,Xiang LI,Hong-miao ZHANG,Hong GU,Yi-peng SHI,Hao-jie ZHANG,Li-ning SUN. Dynamic analysis and parameter optimization of under-actuated heterogeneous lower limb rehabilitation robot. Journal of ZheJiang University (Engineering Science), 2021, 55(2): 222-228.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.02.002 OR http://www.zjujournals.com/eng/Y2021/V55/I2/222

欠驱动异构式下肢康复机器人动力学分析及参数优化

针对现有外骨骼机器人人机自由度不匹配和关节对中性差的问题，提出欠驱动下肢康复机器人. 欠驱动机器人只有4个直线驱动，驱动的直线运动通过推杆和人机连接机构转化为人下肢在矢状面内的屈伸运动，带动人体进行步态康复训练. 建立机器人系统的人机耦合模型，进行模型的动力学分析，对人机耦合模型中影响动力学结果的参数进行分析，建立驱动力与肢体推动力之间的关系模型，并以推力系数最大为目标进行参数分析与优化，得到最佳的结构参数. 根据优化后的结构参数搭建康复机器人实验系统，对髋、膝关节驱动力与角度进行对比. 实验结果表明最大髋关节角度误差为2.9°，最大膝关节角度误差为6.4°，最大误差均约为9%，验证了动力学模型和参数优化结果的正确性.

关键词： 下肢康复机器人, 异构式构型, 欠驱动机器人, 动力学分析, 参数优化

Fig.1 One-sided human-machine coupling model of under-actuated rehabilitation robot

Fig.2 Force analysis diagram of connecting rod DF and EG

Fig.3 Angle curve of unilateral lower limb joint

Fig.4 Relationship between hip thrust coefficient and

${\theta _3}$

、

$\alpha $

Fig.5 Relationship between knee joint thrust coefficient and

$ {\theta }_{4}{\text{、}}\alpha {\text{、}}\beta $

Fig.6 Relationship of initial moment of gait cycle between

${K}_{{\rm{fk}}}$

、

${L_{EG}}$

and

${h_2}$

Fig.7 Changes in maximum thrust coefficient of knee joint during gait cycle

Fig.8 Variations of knee thrust coefficients at different heights of lower driver during gait cycle

Fig.9 RMSE of knee thrust coefficient corresponding to different mounting heights of lower driver

Fig.10 Experimental system for under-actuated lower limb rehabilitation robot

Fig.11 Comparison of theoretical and actual curves of hip，knee joints and their angles

Tab.1 Performance comparison with several typical lower limb rehabilitation robots


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