【摘要】：為了輔助偏癱患者進(jìn)行上肢運(yùn)動(dòng)功能康復(fù)訓(xùn)練,研制了一種具有重力平衡特性的上肢康復(fù)外骨骼機(jī)器人系統(tǒng).首先介紹了外骨骼的機(jī)械結(jié)構(gòu)設(shè)計(jì)以及基于Matlab/RTW環(huán)境的半物理實(shí)時(shí)控制平臺(tái).然后基于輔助平衡法建立了系統(tǒng)重力平衡模型,通過(guò)添加零初始長(zhǎng)度彈簧以及輔助連桿來(lái)平衡外骨骼和人體手臂在康復(fù)訓(xùn)練過(guò)程中受到的重力.最后通過(guò)仿真和實(shí)驗(yàn),比較不同平衡條件下所需要施加的關(guān)節(jié)驅(qū)動(dòng)力矩和肱二頭肌的表面肌電信號(hào)強(qiáng)度.在仿真中,重力平衡狀態(tài)下的平均關(guān)節(jié)驅(qū)動(dòng)力矩為非重力平衡狀態(tài)下的14.89%.在兩種不同任務(wù)的實(shí)驗(yàn)中,重力平衡狀態(tài)下的表面肌電信號(hào)強(qiáng)度分別為非重力平衡狀態(tài)下的57.61%和63.49%.結(jié)果表明,實(shí)現(xiàn)外骨骼的重力平衡可以有效減小工作過(guò)程中的驅(qū)動(dòng)力矩以及能量消耗,并降低對(duì)驅(qū)動(dòng)設(shè)備的性能要求.
[Abstract]:An exoskeleton robot system for upper limb rehabilitation with gravity balance was developed to assist hemiplegic patients in the rehabilitation of upper limb motor function. Firstly, the mechanical structure design of exoskeleton and the semi-physical real-time control platform based on Matlab / RTW environment are introduced. Then the gravity balance model of the system is established based on the auxiliary balance method. The gravity of exoskeleton and human arm is balanced by adding zero initial length spring and auxiliary connecting rod in the course of rehabilitation training. Finally, the joint driving torque and the intensity of the surface electromyography of biceps brachii are compared under different equilibrium conditions by simulation and experiment. In the simulation, the average joint driving torque in gravity equilibrium is 14.89 in non-gravity equilibrium. In the experiments of two different tasks, the intensity of surface EMG signals in gravity equilibrium state is 57.61% and 63.49% of that in non-gravity equilibrium state, respectively. The results show that the gravity balance of exoskeleton can effectively reduce the driving torque and energy consumption and reduce the performance requirements of the drive equipment.
【作者單位】： 南京航空航天大學(xué)機(jī)電學(xué)院;東南大學(xué)機(jī)械工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(51575256,51575100) 南京航空航天大學(xué)基本科研業(yè)務(wù)費(fèi)(NS2013042)
【分類號(hào)】：TP242

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