Mechanism Design and Experiment of Rehabilitation Training Robot for Coordinated Movement of Upper and Lower Limbs
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摘要: 针对临床上缺少一种肢体协调运动康复训练设备的现状，研制了一款适用于偏瘫患者个性化训练的上下肢协调运动康复机器人.首先，在探究正常步态上下肢协调运动规律的基础上，选择以肩、膝关节角度协调变化规律作为机器人的设计目标；然后，基于五杆变胞机构设计了康复训练机构及主/辅传动链，并对训练机构进行了运动学分析；最后，在样机上进行了实验，结果表明该机器人能够满足设计目标.Abstract: Owing to the lack of clinic rehabilitation training equipment for coordinated movement, a rehabilitation robot for upper and lower limbs coordination movement is developed, which is suitable for individualized training of hemiplegia patients. Firstly, the regularity of human shoulder and knee angle coordination movement is identified as a design objective based on normal gait of coordination movement of upper and lower limbs. Then, the rehabilitation training mechanism and the main or auxiliary drive chain based on a five-bar metamorphic mechanism are designed, and kinematic analysis of training mechanism is carried out. Finally, tests on the prototype are carried out, and the results show that the robot can achieve the design goal.1) 本文责任编委 王启宁
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图 9 一个运动周期内的上下肢协调运动
Fig. 9 Coordinated movement of upper and lower limbs in a period of cycle
图 16 不同曲柄$l_1$下肩关节运动
Fig. 16 Shoulder motion depending on different crank lengths $l_1$
图 17 不同$\theta_4$角肩关节运动
Fig. 17 Shoulder motion depending on different $\theta_4$ angles
表 1 机器人主要参数
Table 1 Robot main parameters
名称 参数 名称 参数 椅宽 860 mm 调步长范围 200~600 mm 椅高 500 mm 肩关节范围 -15°~20° 椅面位移 0~140 mm 膝关节范围 10°~60° 座椅靠背角 90°~150° 调整杆角范围 10°~70° 额定功率 400 W 训练模式 被动、主动 适用身高 150~185 cm 适用体重 ≤200 kg 
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