Mechanical design of bed-type gait rehabilitation training system

doi:10.3785/j.issn.1008-973X.2021.05.003

Journal of ZheJiang University (Engineering Science)

2021, Vol. 55

Issue (5): 823-830 DOI: 10.3785/j.issn.1008-973X.2021.05.003

Mechanical design of bed-type gait rehabilitation training system

Wei-da LI(

),Zhu WANG(

),Hong-miao ZHANG,Juan LI,Hong GU

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

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Abstract

A modular bed-type gait rehabilitation training system was proposed aiming at the problem of inconvenience and high cost of existing rehabilitation training robot. The system consists of a bed with adjustable tilt angle, two leg motion auxiliary mechanisms and a foot support mechanism. The modular design can make it easier to use. Cam-connecting rod mechanism was used to simulate the movements of thigh and calf in order to generate normal walking gait. A human-machine coupling model was built and the kinematic analysis was carried out. The kinematic relationship between the mechanism and human lower limbs was obtained as the basis of parameter optimization and structural design. MATLAB was used to optimize the parameters of the model and get their optimal values, aiming at increasing adaptability of the mechanism to the patients with different body types. Experimental results showed that the maximum error of hip angle between the measured result and the standard result was less than 5.2°, the maximum error of knee angle was less than 6.7°, which demonstrated that the presented mechanism can adapt personal difference and it’s feasible to carry out rehabilitation training with this system.

Key words： rehabilitation robot gait training kinematic analysis optimization of parameters modular design

Received: 11 May 2020 Published: 10 June 2021

CLC:

TH 112.2

Fund: 国家重点研发计划资助项目（2018YFC2001304）

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Cite this article:

Wei-da LI,Zhu WANG,Hong-miao ZHANG,Juan LI,Hong GU. Mechanical design of bed-type gait rehabilitation training system. Journal of ZheJiang University (Engineering Science), 2021, 55(5): 823-830.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.05.003 OR http://www.zjujournals.com/eng/Y2021/V55/I5/823

床式步态康复训练系统机构设计

针对现有床式步态康复训练机器人使用不便、成本高昂的问题，提出模块化的床式步态康复训练系统. 包括倾角可调的床体模块、腿部运动辅助机构模块和足底支撑机构模块，模块化设计可以提高其使用方便性，降低制造和使用成本. 为了实现正常的行走步态，腿部运动辅助机构模块采用凸轮-连杆机构模拟大腿和小腿的运动. 建立腿部运动辅助机构的人机耦合模型，并对其进行运动学分析，得到机构与人体下肢的运动学关系，将其作为参数优化和结构设计的基础. 利用MATLAB，以机构对患者个体差异的适应性为目标，对模型中的各参数进行优化，得到一组机构参数的最优解. 实验结果表明，不同身高的实验者髋关节测量角度与标准角度的最大误差不超过5.2°，膝关节最大误差不超过6.7°，验证了机构对实验者个体差异的适应性和使用此系统进行康复训练的可行性.

关键词： 康复机器人, 步态训练, 运动学分析, 参数优化, 模块化设计

Fig.1 Bed-type gait rehabilitation training system

Fig.2 Human-machine coupling model of leg motion auxiliary mechanism

Tab.1 Initial value of parameters of rehabilitation training mechanism

Fig.3 Angle curves of hip and knee

Fig.4 Radius of curvature of cams

Fig.5 Design of cams curve of rehabilitation training mechanism

Tab.2 Proportion of height of adults between ages of 18 and 60

Fig.6 Angle of hip joint under initial condition

Fig.7 Angle of knee joint under initial condition

Tab.3 Parameters optimization results of rehabilitation training mechanism

Fig.8 Angle of hip joint after parameter optimization

Fig.9 Angle of knee joint after parameter optimization

Fig.10 Residual of hip joint after parameter optimization

Fig.11 Residual of knee joint after parameter optimization

Fig.12 Change of residual sum of squares of hip and knee joint with optimization times

Fig.13 Physical object of bed-type gait rehabilitation training system

Tab.4 Subject’s height and weight

Fig.14 Contrast of hip joint angle of subjects

Fig.15 Error of hip joint angle of subjects

Fig.16 Contrast of knee joint angle of subjects

Fig.17 Error of knee joint angle of subjects


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