论文部分内容阅读
针对脑卒中等神经系统损伤造成的运动功能障碍,原位康复是有效的康复手段。下肢助力外骨骼机器人能够帮助患有下肢运动碍的患者实现行走或者康复训练,满足原位康复要求。设计了一款下肢助力外骨骼,此外骨骼单腿有5个自由度,膝关节和髋关节在矢状平面的屈伸是主动关节,每1个关节由滚珠丝杠和滑块摇杆机构组成,踝关节的背/跖屈采用弹簧来提高阻尼。分析了传动机构的传动特点,组建了外骨骼系统,包括传感器、总线结构、电源等。利用vicon运动捕捉系统采集人体关节的运动轨迹,作为外骨骼关节的参考轨迹。最后,在实验样机上进行了实验,结果表明,在拐杖帮助下,外骨骼机器人能够按照预定义的轨迹行走,能够实现对轨迹跟踪。
Aimed at motor dysfunction caused by nervous system injury such as stroke, in situ rehabilitation is an effective rehabilitation method. Lower extremity assisted exoskeleton robot can help patients with lower extremity motor problems to walk or rehabilitation training to meet the requirements of in situ rehabilitation. A lower extremity assisting exoskeleton is designed. In addition, one leg of a bone has 5 degrees of freedom. The flexion and extension of the knee joint and the hip joint in the sagittal plane are active joints. Each joint is composed of a ball screw and a slider rocker mechanism, The ankle’s back / plantar flexion uses springs to increase damping. The transmission characteristics of the transmission mechanism were analyzed, and the exoskeleton system was established, including sensors, bus structure, power supply and so on. The vicon motion capture system is used to capture the motion trajectories of human joints as reference trajectories for exoskeleton joints. Finally, experiments were carried out on experimental prototypes. The results show that the exoskeleton robot can follow the predefined trajectory with the help of crutches and can track the trajectory.