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工程设计学报
Chinese Journal of Engineering Design  2024, Vol. 31 Issue (2): 210-220    DOI: 10.3785/j.issn.1006-754X.2024.03.119
Robotic and Mechanism Design     
Design and performance analysis of lower limb rehabilitation exoskeleton robot
Jiachen CHANG(),Yali HAN(),Han SUN,Chuanqi SHI,Tian ZHAO
School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China
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Abstract  

In order to better assist the rehabilitation training for hemiplegic patients, a lower limb rehabilitation exoskeleton robot driven by disk motor is designed, and the effectiveness of its different rehabilitation training modes is verified through visualization research of power-assisted effect and performance analysis. Firstly, the detailed structural design for the lower limb rehabilitation exoskeleton robot was performed, and the biomechanical analysis of human-machine coupling was carried out by using OpenSim software. Then, the passive rehabilitation training experiment based on position tracking control and resistance rehabilitation training experiment were carried out, and the surface electromyographic signals were collected to verify the effectiveness of the designed lower limb rehabilitation exoskeleton robot to assist patients in rehabilitation training under different modes. The results showed that wearing lower limb rehabilitation exoskeleton robot could reduce the human knee joint torque by about 50%. In the passive rehabilitation training experiment, the following error was within -4°-8°, and the muscle activation of the target muscle group of human lower limbs showed an obvious periodic change. In the resistance rehabilitation training experiment, the muscle activation of the target muscle group of human lower limbs increased with the increase of weight. The designed lower limb rehabilitation exoskeleton robot has good sensitivity and followability, and its passive and resistance rehabilitation training modes are conducive to lower limb rehabilitation of hemiplegia patients, which has broad application prospect.

Key words： lower limb rehabilitation exoskeleton robot      rehabilitation training      biomechanical analysis      position tracking control      muscle activation     
Received: 27 February 2023      Published: 26 April 2024
CLC:  TH 89  
Corresponding Authors: Yali HAN     E-mail: cjcjstx@163.com;s966237@163.com
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Jiachen CHANG
Yali HAN
Han SUN
Chuanqi SHI
Tian ZHAO
Cite this article:

Jiachen CHANG,Yali HAN,Han SUN,Chuanqi SHI,Tian ZHAO. Design and performance analysis of lower limb rehabilitation exoskeleton robot. Chinese Journal of Engineering Design, 2024, 31(2): 210-220.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.119     OR     https://www.zjujournals.com/gcsjxb/Y2024/V31/I2/210


下肢康复外骨骼机器人设计与性能分析

为了更好地辅助偏瘫患者的康复训练，设计了一种基于盘式电机驱动的下肢康复外骨骼机器人，并通过助力效果可视化研究与性能分析来验证其不同康复训练模式的有效性。首先，对下肢康复外骨骼机器人的结构进行了详细设计，并利用OpenSim软件进行了人机耦合的生物力学分析。然后，开展了基于位置跟踪控制的被动康复训练实验以及抗阻康复训练实验并采集表面肌电信号，验证了所设计下肢康复外骨骼机器人在不同模式下辅助患者康复训练的有效性。结果表明，穿戴下肢康复外骨骼机器人能使人体膝关节的力矩减小50%左右；在被动康复训练实验中，跟随误差为-4°~8°，且人体下肢目标肌群的肌肉激活度呈明显的周期性变化；在抗阻康复训练实验中，人体下肢目标肌群的肌肉激活度随负重的增加而提高。所设计的下肢康复外骨骼机器人具有良好的灵敏性和跟随性，其被动及抗阻康复训练模式均有助于偏瘫患者下肢的康复，具有广阔的应用前景。


关键词： 下肢康复外骨骼机器人,  康复训练,  生物力学分析,  位置跟踪控制,  肌肉激活度 
Fig.1 Structure diagram of lower limb rehabilitation exoskeleton
Fig.2 Design of hip joint abduction and adduction drive for lower limb rehabilitation exoskeleton
Fig.3 Control block diagram of lower limb rehabilitation exoskeleton prototype system
Fig.4 Wearing site of lower limb rehabilitation exoskeleton prototype
Fig.5 Delsys wireless surface electromyography acquisition system
Fig.6 Human-machine coupling model
阈值优秀良好不合格
最大残余力/N0~1010~25>25
平均残余力/N0~55~10>10
最大残余力矩/(N·m)0~5050~75>75
平均残余力矩/(N·m)0~3030~50>50
最大位移误差/cm0~22~5>5
平均位移误差/cm0~22~4>4
最大角度误差/(o)0~22~5>5
平均角度误差/(o)0~22~5>5
Table 1 Threshold evaluation range for residual reduction results of human-machine coupling model
Fig.7 Residual force and residual torque output from human-machine coupling model
Fig.8 Comparison of variation curves of left knee joint torque of human body
Fig.9 Human-machine model with one leg swinging in a sitting position
Fig.10 Muscle strength and activation of vastus medialis and vastus lateralis under different rehabilitation training modes
Fig.11 Processing flow of surface electromyography signal
Fig.12 PD control block diagram of lower limb rehabilitation exoskeleton
Fig.13 Passive rehabilitation training experiment site
Fig.14 Motion trajectory and tracking error of knee joint during passive rehabilitation training phase
Fig.15 Muscle activation during passive rehabilitation training phase
Fig.16 Knee joint movement process during resistance rehabilitation training phase
Fig.17 Muscle activation under different swing speeds during resistance rehabilitation training phase
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