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工程设计学报
工程设计学报  2019, Vol. 26 Issue (6): 736-742    DOI: 10.3785/j.issn.1006-754X.2019.00.005
整机和系统设计     
上下肢康复机器人的结构与控制系统设计
穆载乐1,2, 方娟1,2,3, 陈隆飞1,2, 张秋菊1,2
1.江南大学 机械工程学院， 江苏无锡 214122
2.江苏省食品先进制造装备技术重点实验室， 江苏无锡 214122
3.伯尔尼应用科学大学 康复与性能技术研究所, 瑞士 布格多夫 3400
Design of structure and control system for a rotational orthosis for walking with arm swing
MU Zai-le1,2, FANG Juan1,2,3, CHEN Long-fei1,2, ZHANG Qiu-ju1,2
1.School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China
2.Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment Technology, Wuxi 214122, China
3.Institute of Rehabilitation and Performance Technology (IRPT), Bern University of Applied Sciences, Burgdorf 3400, Switzerland
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摘要： 为更好地辅助中风偏瘫患者进行早期康复治疗，基于上下肢运动神经耦合理论，研制了一款上下肢康复机器人。首先，依据康复医学相关理论对上肢和下肢康复装置进行结构设计，并对下肢康复装置中的踝关节康复装置和下肢长度调整装置的机械结构进行详细介绍。然后，采用极点配置法建立位置闭环控制系统，实现上下肢康复机器人的被动联动运动。最后，招募4名健康的测试者进行上机测试。实验结果表明，该机器人实现了上下肢关节同步被动运动，且上下肢各关节运动轨迹误差不超过1.50°，说明其运动轨迹跟踪效果良好。该上下肢康复机器人可以实现双侧肩、髋、膝和踝关节共8个关节的联动运动，有望为偏瘫患者提供更好的早期步态康复治疗。
关键词： 上下肢康复机器人;  极点配置法;  被动运动    
Abstract: In order to better assist stroke patients in early rehabilitation, a rotational orthosis for walking with arm swing is developed based on the theory of interlimb neural coupling. Firstly, according to the theory of rehabilitation medicine, the structures of upper and lower limb rehabilitation devices were designed, and the mechanical structures of the ankle joint rehabilitation device and the lower limb length adjusting device were introduced in detail. Then, the position closed-loop control system was established by the pole-placement approach to realize the passive linkage motion of the rotational orthosis for walking with arm swing. Finally, four able-bodied participants were recruited to test the orthosis. The experimental results showed that the rotational orthosis for walking with arm swing achieved synchronous passive motion of joints of upper and lower limbs, and every joint tracked the target trajectory well with the error not exceed 1.50°. The orthosis achieved linkage motion of the bilateral shoulder, hip, knee and ankle joints, which was believed to be efficient for the early gait rehabilitation for stroke patients.
Key words: rotational orthosis for walking with arm swing    pole-placement    passive motion
收稿日期: 2019-07-02 出版日期: 2019-12-28
CLC:  TH-39  
基金资助: 国家自然科学基金资助项目(81401856)；江苏省研究生科研与实践创新计划项目(KYCX19_1880)
通讯作者: 张秋菊（1963—）,女,四川乐至人，教授,博士生导师,博士，从事机电控制系统设计、机器人技术和数控编程等研究,E-mail:qjzhang@jiangnan.edu.cn     E-mail: qjzhang@jiangnan.edu.cn
作者简介: 穆载乐(1994—),男,山西吕梁人,硕士生,从事康复机器人设计与控制研究,E-mail:muzaile94@163.com, https://orcid.org/0000-0001-9991-9321
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引用本文:

穆载乐, 方娟, 陈隆飞, 张秋菊. 上下肢康复机器人的结构与控制系统设计[J]. 工程设计学报, 2019, 26(6): 736-742.

MU Zai-le, FANG Juan, CHEN Long-fei, ZHANG Qiu-ju. Design of structure and control system for a rotational orthosis for walking with arm swing. Chinese Journal of Engineering Design, 2019, 26(6): 736-742.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2019.00.005    或    https://www.zjujournals.com/gcsjxb/CN/Y2019/V26/I6/736

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