【摘要】 基于肩关节损伤病理进行分析，针对肩关节垂直轴与冠状轴的运动，设计了面向肩关节康复的气压驱动外骨骼机器人。结合肩关节损伤康复训练临床治疗方法与人体工程学原理，确定机器人肩关节的结构与运动范围；设计了气动摆动缸驱动系统，可提供机器人关节的反向驱动特性，提高康复训练的被动柔顺性。建立外骨骼康复训练机器人运动学模型，仿真得到机器人的工作空间，并与人体肩关节运动空间进行了对比。结果表明，设计的机器人工作空间能满足人体肩关节康复训练的需求。设计了康复训练机器人关节的独立与复合动作，可完成肩关节内旋/外旋、屈曲/伸展、够取运动等多种康复训练作业治疗。经试验验证，在样机按规划动作的运动轨迹运行中，气动摆动缸驱动的机器人关节运动平稳，轨迹跟踪误差满足康复训练要求，验证了外骨骼康复机器人结构设计的合理性和康复动作规划的可行性。更多还原

【Abstract】 Based on the analysis of the shoulder joint injury pathology, a pneumatic driven exoskeleton robot for shoulder joint rehabilitation was designed for the movement of shoulder joint vertical axis and coronary axis. The structure and range of motion of the robot shoulder joint were determined by combining the clinical treatment method of shoulder joint injury rehabilitation training with the principle of ergonomics. A pneumatic swing cylinder drive system was designed to provide reverse driving characteristics of robot joints and improve the passive compliance in the rehabilitation training. The kinematics model of the exoskeleton rehabilitation training robot was established, and the simulation results also show that the designed robot workspace can meet the needs of the human shoulder joint rehabilitation training. For this rehabilitation training robot, the independent and compound movements of the joints were designed to complete different kinds of treatments of rehabilitation training for joint shoulders, including internal/external rotation, flexion/extension as well as stretch ability.Experimental verification shows that during the movement track of the prototype according to the planned action,the joint movement of the robot driven by the pneumatic swing cylinder is stable, and the track tracking error meets the requirements of the rehabilitation training, which verifies the rationality of the structural design of the exoskeleton rehabilitation robot and the feasibility of rehabilitation action planning.更多还原