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Title:: Design and simulation of bio-fusion lumbar traction exoskeleton mechanism

作者:: 王晴晴1; 杨建涛1; 贺晨1; 喻洪流1; 2; 石萍1; 2△; 1.上海理工大学康复工程与技术研究所，上海 200093；2.上海康复器械工程技术研究中心，上海 200093

Author(s):: WANG Qingqing1; YANG Jiantao1; HE Chen1; YU Hongliu1; 2; SHI Ping1; 2; 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China；2.Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093

Keywords:: Spinal degenerative diseases; Man-machine fusion; Kinematics; Working space; Motion posture; Safety angle

摘要:: 本研究设计了一种用于治疗脊柱退行性疾病的生物融合式腰椎牵引外骨骼。基于对腰椎尺寸以及运动范围的确定，应用生物融合式机构设计理念得到人机闭环机构。通过设计一种机逆人正的运动学数学模型，获得在人体腰部运动安全范围内的腰椎牵引外骨骼的驱动器长度和姿态工作空间，以验证设计的合理性，确保穿戴的安全性。最后，通过角度传感器采集受试者在穿戴外骨骼不牵引（WN-T）和穿戴且牵引（WT）两种情况下的前屈后伸和左右侧屈的运动角度。结果显示，本研究的生物融合式腰椎牵引外骨骼在WT情况下前屈、后伸和侧屈的最大角度分别为47.6°、11.2°和25.7°。结果验证了牵引角度均满足设定的安全范围，生物融合式腰椎牵引外骨骼具有良好的牵引效果。

Abstract:: We designed a biological fusion lumbar traction exoskeleton for the treatment of spinal degenerative diseases. Based on the determination of the lumbar spine size and range of motion, the human-machine closed-loop mechanism was obtained by applying the design concept of bio-fusion mechanism. A mathematical model of machine inverse human forward kinematics was established to obtain the driver length, posture workspace of the lumbar traction exoskeleton within the safe range of human waist motion, to confirm the rationality of the design and ensure the wearing safety. Finally, the angles of lateral flexion and flexion were collected under wearing with non-traction (WN-T) and wearing with traction (WT) by using angle sensor. The results showed that the maximum angles of front flexion, extension, and lateral flexion were 47.6°, 11.2° and 25.7° respectively. The evaluation of the bio-fusion lumbar traction has good effects on the traction which is within the scope of safety.