文章摘要

文章信息/Info

Title:: Design and optimization of lower limb rehabilitation robot driven by parallel ropes

Author(s):: WANG Yiming; WEI Yishan; HU Xiufang; ZOU Renling; XU Xiulin; LIN Haibo; BIN Kehua; School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Keywords:: Lower limb rehabilitation; Rope traction; Kinematics modeling; Structure design; Simulation; Working space

摘要:: 下肢运动障碍患者对下肢康复器械的需求日益增大。基于刚性连杆康复机器人的局限，本研究设计了一款绳索并联驱动的下肢康复机器人。通过对人体步态运动规律的分析，建立了人机运动学模型，利用数值法对运动学正逆解进行了验证，得到了绳索长度、速度、加速度变化规律，并进行了工作空间的研究。最后将模型导入Adams软件进行仿真，其下肢各关节仿真结果与CGA标准结果拟合误差较小。实验结果表明,该康复机器人结构设计合理，训练安全有效。

Abstract:: The demand for lower limb rehabilitation is increasing because of the rapid increase of patients with lower limb movement disorders. Based on the limitation of rigid link rehabilitation robot, we designed a lower limb rehabilitation robot driven by parallel ropes. Through the analysis of human gait movement law, the human-machine kinematics model was established, and the forward and inverse kinematics solutions were verified by numerical method. The change law of rope length, speed and acceleration was obtained, and the workspace was studied. Finally, the model was imported into ADAMS software for simulation, the fitting error between the simulation results of lower limb joints and CGA standard results was small. The experimental results show that the structure design of the rehabilitation robot is reasonable and the training is safe and effective.