生物医学工程研究2026，Vol.45Issue(4)：319-325,7.DOI:10.19529/j.cnki.1672-6278.2026.04.08
面向脑瘫儿童上肢外骨骼的串联弹性驱动器设计
Design of series elastic actuator for upper limb exoskeleton of children with cerebral palsy
摘要
Abstract
To address the issues of high output impedance and fixed stiffness issues of conventional rigid actuators,we proposed a rotational series elastic actuator(R-SEA)suitable for upper limb exoskeletons for children with cerebral palsy.Firstly,the two-di-mensional equivalent geometric model of R-SEA was constructed,and the nonlinear relationship between the output torque and the rel-ative angle was established,and the equivalent rotational stiffness was obtained by derivation.Then,the space of spring stiffness,num-ber and output disk radius parameters were searched through the MATLAB,and 102 feasible solutions satisfying the maximum output torque of 15～25 N•m and the equivalent rotational stiffness of 30～50 N•m/rad were selected.Finally,the physical simulation model was established in Simulink/Simscape to verify the variation characteristics of output torque and rotational stiffness with rotation angle.The results showed that the output torque of R-SEA reached 16 N•m when the angle of R-SEA was 0.5 rad.The simulation curve was highly consistent with the theoretical calculation,and the accuracy of the model was verified.The proposed actuator could provide the required assistive torque while ensuring compliant interaction,exhibiting high precision,adjustability and engineering applicability.It offers a feasible solution for the design of upper limb exoskeletons for children with cerebral palsy and serves as a reference for the engi-neering application of flexible actuators in similar rehabilitation robotic systems.关键词
脑性瘫痪/上肢外骨骼/串联弹性驱动器/旋转刚度/Simulink 仿真Key words
Cerebral palsy/Upper limb exoskeleton/Series elastic actuator/Stiffness of rotation/Simulink simulation分类
医药卫生引用本文复制引用
刘雨宸,暴帅云,王多琎..面向脑瘫儿童上肢外骨骼的串联弹性驱动器设计[J].生物医学工程研究,2026,45(4):319-325,7.基金项目
国家重点研发计划(2023YFC3604800). （2023YFC3604800）
