【摘要】 面向低龄脑性瘫痪儿童的下肢康复训练机器人对脑瘫患儿的早期抢救性康复具有重大意义。基于脑瘫患儿的康复需求及心理和病理特点，提出了康复机器人的总体设计方案，继而进行了采用髋、膝、踝6主动自由度外骨骼结合移动式助行器的康复机器人的结构设计与优化。针对控制系统的高实时性及安全性要求，设计了主从式控制结构，关节驱动采用PID三闭环控制，结合PLL锁相环算法实现位置及速度解算，提高磁编码器的检测精度。在完成样机研制的基础上，进行了关节轨迹跟踪实验及裸机地面行走实验，实验结果表明各个关节之间协作良好，外骨骼能够以正常步态在地面上行走，验证了机械系统及控制系统的有效性。更多还原

【Abstract】 The lower limb rehabilitation robot for younger children with cerebral palsy is of great significance for early salvage rehabilitation. Based on their rehabilitation needs and psychological and pathological characteristics, the overall design of the rehabilitation robot is proposed. Following this, the structural design and optimization of the rehabilitation robot using a six-active-degrees-of-freedom exoskeleton for the hip, knee and ankle combined with a mobile walker is carried out. To meet the real-time and safety requirements of the control system, a master-slave control structure is designed. The joint drive is controlled by PID closed-loop control, combined with PLL phase-locked loop algorithm for position and velocity solving, and the detection accuracy of the magnetic encoder is improved. Based on the completion of the prototype, joint trajectory tracking experiments and ground walking experiments are designed. The experimental results show that the joints work well together and the exoskeleton can walk on the ground with normal gait, which verifies the effectiveness of the mechanical system and the control system.更多还原