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浙江大学学报(工学版)
J4  2014, Vol. 48 Issue (3): 430-435    DOI: 10.3785/j.issn.1008-973X.2014.03.008
机械工程     
基于人机5杆模型的下肢外骨骼系统设计
杨巍1,张秀峰2,杨灿军1,吴海杰1
1.浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027；2.国家康复辅具研究中心,北京 100176
Design of a lower extremity exoskeleton
based on 5-bar human machine model
YANG Wei1, ZHANG Xiu-feng2, YANG Can-jun1, WU Hai-jie1 
1. State Key Laboratory of Fluid Power and Control,Zhejiang University,Hangzhou 310027,China;
2. National Research Center for Rehabilitation Technical Aids,Beijing 100176,China
 全文: PDF(2593 KB)  
摘要：

针对日益增多的脑卒中病人和脊椎损伤病人康复训练需求,分析了人体下肢驱动自由度,设计出一种基于跑步机上行走训练的下肢外骨骼系统,将康复理疗师的训练经验与机器人的大功率以及可重复操作性集成于一体.利用人机耦合系统5杆模型,建立动力学方程并推导出髋、膝关节驱动力矩,为对应关节的驱动电机选型提供参考依据.为了获取正常人体在跑步机上行走的步态,利用光学动作捕捉系统采集正常人体在跑步机上行走时的特征点数据,结合人机耦合系统5杆模型推导出髋、膝关节角度值,作为患者在跑步机上康复训练的标准步态的参考.通过患者康复训练临床实验,验证了系统的可行性与可靠性,其实验结果与患者实际病情相符合.该外骨骼系统为脑卒中病人提供了一种科学的康复训练平台.
关键词： 下肢康复;  外骨骼;  机器人;  人机耦合系统    
Abstract:

Considering the increasing requirements of rehabilitation training for stroke patients and spinal cord injury (SCI) patients, this work analyzed the  driving degrees of freedom of human lower limbs, and designed a lower extremity exoskeleton system based on treadmill, which combined the training experience of physiotherapists and the high-power, repeatability of robot. Based on the 5-bar human machine model, the dynamic equation was established and the driving torques of hip and knee joints were calculated, which could be used as reference of motor selection for corresponding joints. In order to get normal gait data on treadmill, optical motion capture system was used to obtain the data of feature points while a normal person was walking on the treadmill. And the 5-bar human machine model was used to obtain the gait data. The results were regarded as reference of standard gait data of the exoskeleton system. Clinical experiments were conducted, which proved the feasibility and reliability of the exoskeleton system, and the experimental results conformed to the symptom of the patients.This exoskeleton system provides stroke patients with a scientific training platform for rehabilitation．
Key words:  lower limbs rehabilitation    exoskeleton    robot    human machine coupling system
出版日期: 2014-04-02
:  TH　122  
基金资助:

国家自然科学基金创新研究群体科学基金资助项目（51221004）.
通讯作者: 杨灿军，男，教授，博导.     E-mail: ycj@zju.edu.cn
作者简介: 杨巍（1988-），男，博士生，从事外骨骼人机智能系统研究.E-mail:zjuaway@163.com
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引用本文:

杨巍,张秀峰,杨灿军,吴海杰. 基于人机5杆模型的下肢外骨骼系统设计[J]. J4, 2014, 48(3): 430-435.

YANG Wei, ZHANG Xiu-feng, YANG Can-jun, WU Hai-jie. Design of a lower extremity exoskeleton
based on 5-bar human machine model. J4, 2014, 48(3): 430-435.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2014.03.008    或    http://www.zjujournals.com/xueshu/eng/CN/Y2014/V48/I3/430

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