摘要
针对下肢运动功能障碍患者对康复训练设备的需求,设计一种能够辅助患者自主康复的下肢训练机器人。基于人机工程学理论和现实因素设计康复机器人的3维结构模型;根据人体的运动特点设计人体行走意图识别系统,并对机器人的运动特性进行分析,提出基于多传感系统的机器人运动控制方案;搭建康复机器人实验样机,并对机器人的控制效果进行测试。实验结果表明,该机器人的结构设计与控制方案具备正确性和可行性。
In order to meet the needs of rehabilitation training equipment for patients with lower limb motor dysfunction,a lower limb training robot is designed to assist patients in autonomous rehabilitation.Based on the theory of ergonomics and realistic factors,a 3D structural model of the rehabilitation robot is designed,and a human walking intention recognition system is designed according to the motion characteristics of the human body,and a motion control scheme based on a multi-sensor system is proposed by analyzing the motion characteristics of the robot.The experimental prototype of the rehabilitation robot is built,and the control effect of the robot is tested.The experimental results show that the structural design and control scheme of the robot are correct and feasible.
作者
牛军道
高学山
赵鹏
郝亮超
Niu Jundao;Gao Xueshan;Zhao Peng;Hao Liangchao(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Electrical,Electronics and Computer Science,Guangxi University of Science and Technology,Liuzhou 545006,China)
出处
《兵工自动化》
2022年第6期14-19,共6页
Ordnance Industry Automation
基金
国家重点研发计划项目(2020YFC2008503)。
关键词
康复机器人
结构设计
多传感系统
运动特性
自主康复
rehabilitative robot
structural design
multi-sensor system
motion characteristics
autonomous rehabilitation
