| 张立勋,秦涛,宋承盈,程胜.踏板式步行康复机器人样机研制与实验研究[J].高技术通讯(中文),2013,23(9):939~945 |
| 踏板式步行康复机器人样机研制与实验研究 |
| Prototype development and experimental study of a footpad type walking rehabilitation robot |
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| DOI： |
| 中文关键词: 踏板，康复机器人，步态，跖趾关节，运动分析 |
| 英文关键词: footpad,rehabilitation robot,gait,metatarsophalangeal joint,kinematic analysis |
| 基金项目: |
| 作者 | 单位 | | 张立勋 | 哈尔滨工程大学机电工程学院；昆山市工业技术研究院智能机器人工程研究所 | | 秦涛 | 哈尔滨工程大学机电工程学院 | | 宋承盈 | 哈尔滨工程大学机电工程学院 | | 程胜 | 昆山市工业技术研究院智能机器人工程研究所 |
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| 中文摘要: |
| 为了帮助有下肢功能障碍的患者尽快恢复运动能力，辅助患者进行步行康复训练，研制了一种踏板式步行康复机器人样机。该机器人包括两套对称的步行康复机构，每套步行康复机构采用一个驱动电机驱动患者足底实现人正常行走时的步态模拟，同时带动患者下肢关节进行运动康复。在不增加驱动元件的前提下，利用机械约束实现跖趾关节的康复训练。建立了步行康复机构的运动学模型，利用Matlab/Simulink进行了仿真分析，得到机器人带动患者训练时的步态轨迹和一个步态周期内的足底转角及跖趾关节的转角，验证了样机设计的可行性和合理性，并基于 |
| 英文摘要: |
| To help the patients with lower limb dysfunction achieve normal walking function,and aid them with walk rehabilitation,a prototypical footpad type walking rehabilitation robot was developed.The robot consists of two sets of symmetrical walking rehabilitation mechanism,and each walking rehabilitation mechanism can drive patients’ plantar to simulate the normal walking gait by using a drive motor,and take patients’ lower limbs joints to exercise training.The rehabilitation training of the metatarsophalangeal joint was realized by using some mechanical constraint without adding a driving element.The kinematic model of the walking rehabilitation mechanism was deduced and established.The gait trajectory,the plantar angle and the metatarsophalangeal joint angle in a gait cycle were obtained with Matlab/Simulink,which verified the feasibility and rationality of the prototype design.Furthermore,an experiment was made on the robot prototype based on the hardware in the loop simulation platform of Quanser.The preliminary simulation and experimental results show that this robot can meet the requirements of the patients with lower limb dysfunction and provide the base for further experimental study. |
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