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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (1): 168-177    DOI: 10.3785/j.issn.1008-973X.2022.01.019
能源工程、机械工程     
仿肌肉绳索驱动下肢康复机器人系统使用安全性评价
王砚麟1,2(),王克义1,*(),王奎成1,莫宗骏1,王璐莹1
1. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
2. 兰州理工大学 机电工程学院, 甘肃 兰州 730050
Safety evaluation of bionic-muscle cable-driven lower limb rehabilitation robot system
Yan-lin WANG1,2(),Ke-yi WANG1,*(),Kui-cheng WANG1,Zong-jun MO1,Lu-ying WANG1
1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
2. School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
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摘要：

为了研究仿生肌肉绳索驱动下肢康复机器人使用安全性的评价方法和指标，基于Hill肌肉模型，给出仿生肌肉绳索模型，介绍仿生肌肉绳索驱动下肢康复机器人（BM?CDLR）. 在康复机器人的刚性运动支链的运动规划和力学分析的基础上，定义了安全性能因子. 考虑不同患者的运动承受能力和刚性运动支链滑块运动速度的波动性，提出康复机器人的使用安全性评价指标. 通过实例分析验证了使用安全性评价方法的合理性.
关键词： 仿生肌肉绳索;  下肢康复机器人;  运动规划;  安全性能因子;  使用安全性    
Abstract:

A bionic muscle cable model was given based on the Hill muscle model, and a bionic-muscle cable-driven lower limb rehabilitation robot (BM-CDLR) was introduced in order to analyze the safety evaluation method and index of BM-CDLR. The safety performance factors were defined based on the motion planning of the rigid motion branch and mechanical analysis of the BM-CDLR. The use safety evaluation index of the BM-CDLR was proposed by considering the motion tolerance of different patients and the volatility of the motion speed of the slider in the rigid motion branch chain. The rationality of the use safety evaluation method of the BM-CDLR was verified through case analysis.
Key words: bionic muscle cable    lower limb rehabilitation robot    motion planning    safety performance factor    use safety
收稿日期: 2021-03-05 出版日期: 2022-01-05
CLC:  TH 113  
基金资助: 国家自然科学基金资助项目(52175006); 黑龙江省自然科学基金资助项目(LH2019E032); 中央高校基本科研业务费专项资金资助项目(3072020CF0706)
通讯作者: 王克义     E-mail: wangyanlin0513@21cn.com;wangkeyi@hrbeu.edu.cn
作者简介: 王砚麟（1992—），男，博士生，从事机器人技术的研究. orcid.org/ 0000-0002-2975-0361. E-mail： wangyanlin0513@21cn.com
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王砚麟
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引用本文:

王砚麟,王克义,王奎成,莫宗骏,王璐莹. 仿肌肉绳索驱动下肢康复机器人系统使用安全性评价[J]. 浙江大学学报(工学版), 2022, 56(1): 168-177.

Yan-lin WANG,Ke-yi WANG,Kui-cheng WANG,Zong-jun MO,Lu-ying WANG. Safety evaluation of bionic-muscle cable-driven lower limb rehabilitation robot system. Journal of ZheJiang University (Engineering Science), 2022, 56(1): 168-177.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.01.019    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I1/168

图 1  仿生肌肉绳索驱动下肢康复机器人
工况 参数
ke1/( N·m?1) Le1/m ke2/( N·m?1) Le2/m ke3/(N·m?1) Le3/m
A 100 0.50 100 0.8 100 0.8
B 200 0.50 100 0.8 100 0.8
C 100 0.65 100 0.8 100 0.8
D 100 0.50 200 0.8 100 0.8
E 100 0.50 100 0.6 100 0.8
F 100 0.50 200 0.6 200 0.6
表 1  不同工况下仿生肌肉绳索中弹性元件的参数
图 2  牵引点运动轨迹和滑块B1的运动轨迹
图 3  第1种规划中安全性能因子和使用安全性指标的变化曲线
图 3-1  
图 4  第2种规划中安全性能因子和使用安全性指标的变化曲线
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