| Whole Machine and System Design |
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| 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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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.
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Received: 02 July 2019
Published: 28 December 2019
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上下肢康复机器人的结构与控制系统设计
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
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