基于锥规划重建的运动关节康复外骨骼定制设计

doi:10.3785/j.issn.1008-973X.2025.10.001

浙江大学学报(工学版)

2025, Vol. 59

Issue (10): 2005-2013 DOI: 10.3785/j.issn.1008-973X.2025.10.001

机械工程

基于锥规划重建的运动关节康复外骨骼定制设计

屠正欣(

),徐敬华*(

),张树有

浙江大学设计工程研究所，浙江杭州 310058

Rehabilitation exoskeleton customized design of kinematic joint based on cone programming reconstruction

Zhengxin TU(

),Jinghua XU*(

),Shuyou ZHANG

Institute of Design Engineering, Zhejiang University, Hangzhou 310058, China

全文: PDF(2745 KB) HTML

摘要：

为了提升人体工学康复器具与个体关节运动学的匹配性能，提出运动关节康复外骨骼定制设计的新方法. 通过医学图像重建骨骼关节，利用锥规划迭代计算形貌特征匹配关系，重建个性化的关节运动姿态，提高重建精度. 与分层匹配方法相比，所提锥规划重建方法的均方根误差、平均绝对误差和最大误差分别降低了10.95%、12.29%和6.05%. 基于重建的运动关节姿态同步推算其瞬时旋转中心轨迹，结合三心定理，以减小瞬时旋转中心轨迹误差为目标，优化康复外骨骼反向双摇杆机构设计，实现运动域中精确的人机协同变瞬心运动. 结合增材制造约束进行拓扑优化，通过赫兹接触理论分析外骨骼零件的载荷传递和应力分布，优化材料分布，实现康复外骨骼结构的个性化定制设计.

关键词： 锥规划重建; 运动关节; 康复外骨骼; 定制设计; 载荷传递; 变瞬心运动

Abstract:

A new method for the customized design of a kinematic joint rehabilitation exoskeleton was proposed to enhance the matching performance between the ergonomic rehabilitation appliance and the individual joint kinesiology. The bone joint was reconstructed from medical images, improving the reconstruction accuracy, while cone programming iteration was employed to calculate the matching relationship of morphology features, from which the individual joint kinematic posture was reestablished. Compared to the hierarchical matching method, the proposed cone programming reconstruction method reduced the root mean square error, mean absolute error, and maximum error by 10.95%, 12.29%, and 6.05%, respectively. Based on the reconstructed kinematic joint posture, the trajectory of the instantaneous rotation center was simultaneously reckoned. Combined with the three-center theorem, the design of the reverse double rocker mechanism for the rehabilitation exoskeleton was optimized to reduce the instantaneous rotation center trajectory error, resulting in precise human-machine collaborative variable instantaneous center motion in the motion domain. Topological optimization with additive manufacturing constraints was introduced to analyze the load transfer and stress distribution of the exoskeleton part with Hertz contact theory, thereby optimizing material distribution and facilitating the individual customized design of the rehabilitation exoskeleton structure.

Key words: cone programming reconstruction kinematic joint rehabilitation exoskeleton customized design load transfer variable instantaneous center motion

收稿日期: 2024-10-14 出版日期: 2025-10-27

CLC:

TP 391

基金资助: 国家重点研发计划资助项目（2022YFB3303303）.

通讯作者: 徐敬华 E-mail: 21925099@zju.edu.cn;xujh@zju.edu.cn

作者简介: 屠正欣（1997—），女，博士生，从事定制设计研究. orcid.org/0000-0003-4098-1328. E-mail：21925099@zju.edu.cn

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引用本文:

屠正欣,徐敬华,张树有. 基于锥规划重建的运动关节康复外骨骼定制设计[J]. 浙江大学学报(工学版), 2025, 59(10): 2005-2013.

Zhengxin TU,Jinghua XU,Shuyou ZHANG. Rehabilitation exoskeleton customized design of kinematic joint based on cone programming reconstruction. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2005-2013.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.10.001 或 https://www.zjujournals.com/eng/CN/Y2025/V59/I10/2005

图 1 左膝关节CT图像

图 2 股骨远端层截面面积和层截面面积差分

图 3 不同方法重建的左膝关节运动姿态均方根误差迭代曲线

表 1 不同方法重建的左膝关节运动姿态迭代过程均方根误差对比

图 4 矢状面上左胫股关节的锥规划重建运动姿态

表 2 不同屈曲角度下的瞬时旋转中心参数

表 3 不同方法的左膝关节运动姿态重建精度对比

图 5 左膝关节的人体工学康复外骨骼概念设计

图 6 左膝关节外骨骼变瞬心机构运动学模型

表 4 不同方案的变瞬心机构设计参数

图 7 矢状面上2种瞬时旋转中心的轨迹对比

图 8 康复外骨骼左小腿组件等效应力及载荷传递分布

图 9 康复外骨骼左小腿组件应变能迭代曲线

表 5 不同体积约束下拓扑优化结构的应变能

图 10 数字光处理打印的康复外骨骼左小腿组件

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