摘要
针对脑卒中患者步行过程中踝关节背屈力不足而造成足下垂和踝关节跖屈力下降而造成站立末期推进力不足,进而导致步态不稳及容易摔倒等问题,设计一款新型柔性踝关节康复机器人。首先,鉴于刚性踝关节机器人增加了脑卒中患者新陈代谢及心理不适感,本研究采用功能性纺织物与鲍登线传输装置相互作用实现踝关节力辅助,轻质且隐蔽,同时,采用单电机双向驱动方式,减少了驱动模块的质量和体积,研制嵌入鞋套的拉力传感器,轻质且实现了辅助力实时检测。然后,为适用于不同体型的穿戴者,采用分级控制,上层控制包括步态运动意图识别及鲍登线轨迹生成算法,下层控制参照鲍登线轨迹实现踝关节跖屈与背屈辅助,提出了一种基于步态事件的鲍登线轨迹生成算法,实现了控制参数自适应调整,提高了系统鲁棒性。最后,搭建实验测试平台验证了机器人辅助效果,在机器人提供动力辅助时,踝关节站立末期跖屈角度与摆动期背屈角度均提高,站立末期地面推进力增加;相比之下,在机器人不提供动力辅助时,跖屈侧被动拉力在站立末期提供跖屈辅助,提高地面推进力。结果表明该柔性康复机器人具有增加站立末期地面推进力和改善摆动期离地间隙的作用,是一种前景良好的踝关节康复设备。
To solve the problem of gait instability or falling during the walking process for stroke survivors,a new flexible ankle rehabilitation robot(FARR)was designed to improve abnormal gait that caused by the foot drop due to insufficient ankle dorsiflexion(DF)and insufficient propulsion as a result of insufficient ankle plantarflexion(PF).First of all,in view of the impact that the rigid ankle joint robot increases the metabolism and psychological discomfort of stroke survivors,the FARR transmitted mechanical power generated by an actuator to a wearer through the interaction of functional textiles and Bowden cable(BC)transmissions and its features are lightweight and concealed.Furthermore,the single-motor bidirectional drive mode was adopted to reduce the mass and volume of the actuator.A lightweight tension sensor which is embedded in the shoe cover was developed to realize real-time detection of auxiliary force.Then,the hierarchical control was adopted to make that the FARR can be used for wearers with different body types and gaits.The high-level controller included gait movement intention recognition and BC trajectory generation algorithm based on gait events,which is used to realize adaptive adjustment of control parameters and improve system robustness.The low-level controller refers to the BC trajectory to assist ankle joint PF and DF.Finally,the experimental platform was built to test the auxiliary effect of the FARR.When the FARR provided assistance,the PF angle and ground propulsion of the subject increased at the terminal stance,and the DF angle of the subject also increased during the swing phase.Moreover,when the FARR did not provide power assistance,the PF passive force provided PF assistance to enhance ground propulsion of the subject at the terminal stance.The results show that the FARR is a promising ankle rehabilitation device that has the effect of improving the ground propulsion and plantar clearance for stroke survivors.
作者
尹帅
石斌
孙逸凡
槐雅萍
王晶
YIN Shuai;SHI Bin;SUN Yifan;HUAI Yaping;WANG Jing(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049;Shaanxi Provincial Key Laboratory of Intelligent Robots,Xi’an Jiaotong University,Xi’an 710049;School of Automation Science and Engineering,Xi’an Jiaotong University,Xi’an 710049;Joint Key Laboratory of Rehabilitation Medical Equipment Development and Transformation,Shenzhen 518110)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2022年第9期10-20,共11页
Journal of Mechanical Engineering
基金
陕西省重点研发计划(2019SF-109)资助项目。
关键词
踝关节康复
柔性康复机器人
分级控制
自适应交互
ankle rehabilitation
flexible rehabilitation robot
hierarchical control
adaptive interaction
