本文選題：膝關(guān)節(jié)康復(fù) + 自適應(yīng)��； 參考：《哈爾濱工程大學(xué)學(xué)報(bào)》2017年04期

【摘要】：為了探討膝關(guān)節(jié)自適應(yīng)性康復(fù)外骨骼機(jī)構(gòu)構(gòu)型綜合與結(jié)構(gòu)設(shè)計(jì)問(wèn)題,本文基于人體膝關(guān)節(jié)屈伸運(yùn)動(dòng)實(shí)驗(yàn)采集的數(shù)據(jù),提取出膝關(guān)節(jié)運(yùn)動(dòng)瞬時(shí)螺旋參數(shù);根據(jù)膝關(guān)節(jié)生理結(jié)構(gòu)和膝關(guān)節(jié)螺旋軸的瞬變特性考究,建立人體膝關(guān)節(jié)的運(yùn)動(dòng)學(xué)模型。結(jié)合人-機(jī)運(yùn)動(dòng)相容性、人-機(jī)閉鏈自由度和人-機(jī)約束力矩作用性質(zhì)分析,提出一種與人體膝關(guān)節(jié)運(yùn)動(dòng)相容的康復(fù)外骨骼機(jī)構(gòu)構(gòu)型;考慮結(jié)構(gòu)簡(jiǎn)單性和穿戴舒適性,對(duì)膝關(guān)節(jié)康復(fù)外骨骼裝置進(jìn)行了結(jié)構(gòu)設(shè)計(jì),獲得了一套可自適應(yīng)人體膝關(guān)節(jié)轉(zhuǎn)動(dòng)軸線運(yùn)動(dòng)特性的膝關(guān)節(jié)康復(fù)外骨骼機(jī)構(gòu)。
[Abstract]:In order to discuss the problem of configuration synthesis and structure design of knee joint self-adaptive rehabilitation exoskeleton mechanism, the instantaneous spiral parameters of knee joint motion were extracted based on the data collected from human knee joint flexion and extension motion experiment. According to the physiological structure of the knee joint and the transient characteristics of the spiral axis of the knee joint, the kinematic model of the human knee joint is established. Based on the analysis of human-machine motion compatibility, man-machine closed-chain freedom and human-machine constraint torque, a rehabilitation exoskeleton structure compatible with human knee joint motion is proposed, which considers the simplicity of structure and wear comfort. The structure design of knee joint rehabilitation exoskeleton device is carried out and a set of knee joint rehabilitation exoskeleton mechanism is obtained which can adapt the motion characteristics of knee joint rotation axis.
【作者單位】： 北京工業(yè)大學(xué)機(jī)械工程與應(yīng)用電子技術(shù)學(xué)院;國(guó)家康復(fù)輔具研究中心;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(61273342) 北京市自然科學(xué)基金項(xiàng)目(3132005)
【分類號(hào)】：R684
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本文編號(hào)：1791028