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为了辅助偏瘫患者进行上肢运动功能康复训练,研制了一种具有重力平衡特性的上肢康复外骨骼机器人系统.首先介绍了外骨骼的机械结构设计以及基于Matlab/RTW环境的半物理实时控制平台.然后基于辅助平衡法建立了系统重力平衡模型,通过添加零初始长度弹簧以及辅助连杆来平衡外骨骼和人体手臂在康复训练过程中受到的重力.最后通过仿真和实验,比较不同平衡条件下所需要施加的关节驱动力矩和肱二头肌的表面肌电信号强度.在仿真中,重力平衡状态下的平均关节驱动力矩为非重力平衡状态下的14.89%.在两种不同任务的实验中,重力平衡状态下的表面肌电信号强度分别为非重力平衡状态下的57.61%和63.49%.结果表明,实现外骨骼的重力平衡可以有效减小工作过程中的驱动力矩以及能量消耗,并降低对驱动设备的性能要求.
In order to assist the patients with hemiplegia to carry out upper extremity motor function rehabilitation training, a kind of upper extremity rehabilitation exoskeleton robot system with gravity balance was developed.First, the mechanical structure design of exoskeleton and semi-physical real-time control platform based on Matlab / RTW environment were introduced. Based on the auxiliary balance method, a system gravity balance model is established, and the zero initial length spring and auxiliary connecting rod are used to balance the gravity of the exoskeleton and the human arm during rehabilitation training. Finally, the simulation and experiment are used to compare the requirements of different balance conditions The applied joint driving torque and the surface EMG signal strength of the biceps.In the simulation, the average joint driving torque in the state of gravity balance is 14.89% under the state of non-gravity balance.In the experiments of two different tasks, the gravity The surface EMG signal intensity in equilibrium state were 57.61% and 63.49% under non-gravity balance respectively. The results show that the gravity balance of exoskeleton can effectively reduce the driving torque and energy consumption during operation, Equipment performance requirements.