工程设计学报2024，Vol.31Issue(2)：210-220,11.DOI:10.3785/j.issn.1006-754X.2024.03.119
下肢康复外骨骼机器人设计与性能分析
Design and performance analysis of lower limb rehabilitation exoskeleton robot
摘要
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.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Key words
lower limb rehabilitation exoskeleton robot/rehabilitation training/biomechanical analysis/position tracking control/muscle activation分类
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常佳辰,韩亚丽,孙翰,史传棋,赵天..下肢康复外骨骼机器人设计与性能分析[J].工程设计学报,2024,31(2):210-220,11.基金项目
国家自然科学基金资助项目(51205182) （51205182）
江苏省重点研发计划(社会发展项目)(BE2019724) （社会发展项目）
江苏省研究生科研与实践创新计划项目(SJCX21_0915) （SJCX21_0915）
