适应个体差异的下肢康复机器人步态规划与实现

目的 针对下肢康复机器人轨迹规划,进行适应个体差异康复运动模式的求解,实现精准康复。方法 在总结出下肢康复机器人6种运动模式后,根据人体多刚体理论,将下肢康复机器人外骨骼简化成二连杆机构,对运动模式进行逆运动学分析,并基于C#设计运动模式求解系统。结果 将基于C#运动模式求解系统计算的运动模式关节角度值传输到上位机,6种运动模式均成功应用于下肢康复机器人。通过运动模式逆运动学分析基于C#设计的运动模式求解系统,对于不同腿长的下肢运动功能障碍患者,进行适应个体差异的运动模式关节角度值求解。通过样机实验,下肢康复机器人能够按照规划的运动模式带动人体模型进行康复训练,且实际关节角度曲线与理论关节角度曲线基本重合,关节角度误差较小。结论 验证了适应个体差异运动模式求解的有效性和可行性。

Solution for Movement Mode of Lower Limb Rehabilitation Robot Adapted to Individual Differences

Objective To solve the movement mode adapting to individual differences for the trajectory planning of lower limb rehabilitation robots.Methods After summarizing the six movement modes of the lower limb rehabilitation robot, according to the multi-rigid body theory of the human body, the exoskeleton of the lower limb rehabilitation robot was simplified into a two-bar linkage mechanism, the inverse kinematics analysis of the motion mode was performed, and the motion pattern solving system was designed based on C#.Results The motion mode joint angle value calculated based on the C# motion mode solving system was transmitted to the upper computer, and the six motion modes were successfully applied to the lower limb rehabilitation robot. Through the inversion kinematics analysis of the motor model, the C#-designed motion mode solving system could solve the motorized joint angle values that adapted to individual of different leg lengths with lower extremity motor dysfunction. Through physical prototype experiments, the lower limb rehabilitation robot could drive the human body model for rehabilitation training according to the planned exercise mode. The actual joint angle curve and the theoretical joint angle curve were basically coincident, the joint angle error was small. Conclusion The individual difference motion pattern solution is valid and feasible.