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下肢外骨骼康复机器人系统设计与研究
Alternative TitleDesign and Control of Lower Limb Exoskeleton Robot for Rehabilitation
薛增飞; 赵新刚; 林光模; 苏陈
Department机器人学研究室
Source Publication控制工程
ISSN1671-7848
2017
Volume24Issue:7Pages:1291-1296
Indexed ByCSCD
CSCD IDCSCD:6025323
Contribution Rank1
Funding Organization国家高技术研究发展计划资助项目(2015AA042302)
Keyword外骨骼机器人 步态 下肢 行走
Abstract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。
Other AbstractOrthotopic rehabilitative training is an effective kind of rehabilitation means for people with motor dysfunction which is caused by nervous system injury, like stroke. Lower limb powered exoskeleton robots can help patients to achieve walking or rehabilitation training, and satisfy the requirement of orthotopic rehabilitation. Because of this demand, we design a powered exoskeleton that has five degrees of freedom. The flexion and extension of the hip and knee in the sagittal plane are active. And, each joint is composed of a ball screw and a slider rocker mechanism. A spring in the ankle is used to improve the performance of damping. We analyze the transmission characteristics of the transmission mechanism, and then build the exoskeleton system, which includes sensors, bus structure, a power supply, etc. The lower limb joint data of the normal subjects are obtained as the reference trajectories which are collected by a motion capture system (vicon). Finally, the gaits are tested on the experimental prototype. Experimental results show that with the help of crutches, the exoskeleton robot is able to walk along the predefined trajectories, and could realize the trajectory tracking.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20989
Collection机器人学研究室
Corresponding Author薛增飞
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.燕山大学机械工程学院
Recommended Citation
GB/T 7714
薛增飞,赵新刚,林光模,等. 下肢外骨骼康复机器人系统设计与研究[J]. 控制工程,2017,24(7):1291-1296.
APA 薛增飞,赵新刚,林光模,&苏陈.(2017).下肢外骨骼康复机器人系统设计与研究.控制工程,24(7),1291-1296.
MLA 薛增飞,et al."下肢外骨骼康复机器人系统设计与研究".控制工程 24.7(2017):1291-1296.
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