【作者】 张晓超；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械设计及理论， 2009， 博士

【摘要】 下肢康复训练机器人主要用于辅助由于中风、脑损伤等神经中枢受损造成的偏瘫、瘫痪等行走功能障碍患者急性期过后的运动康复训练。传统行走训练方法,治疗师的劳动强度大,患者训练强度、持续性难以保证。康复训练机器人在提供重复稳定的定量运动输入方面具有很大的优越性,不仅可从康复早期为患者提供康复辅助训练,更有利于大脑神经功能重组和代偿发生,而且可为患者提供多种训练模式、训练场景及运动效果反馈,满足康复训练的需要。下肢康复训练机器人可作为康复中心或者家庭中使用的自动化步行康复训练设备,具有较高的实际应用价值和广阔的市场前景。本文得到国家自然科学基金“下肢康复训练机器人关键技术研究”的资助,针对下肢康复训练机器人的机构、运动学及动力学、运动规划方法及控制策略等关键问题进行详细的理论分析和仿真研究。综述了国内外在下肢康复训练机器人及相关领域的研究现状。在对国内外现有下肢康复训练机器人在机构、运动规划及控制策略分析和比较的基础上,针对行走功能障碍患者对运动康复训练和康复治疗的需求,基于人体行走步态运动规律分析,提出了一种新型下肢康复机器人机构方案和具有三种康复训练模式的控制方案。机器人机构由四自由度步态控制机构和五自由度骨盆控制机构组成,通过两者之间的运动协调控制,可实现人体三维步态运动控制,满足步态康复训练和人体平衡的要求。结合机构自身特点,对空间五自由骨盆控制机构的工作空间进行了分析,给出了一种求解该类并联机构工作空间的解析方法,克服了采用一维或多维数值搜索方法带来的计算耗时问题。确定了机构实际工作空间及机构尺寸约束条件。对步态控制机构、骨盆控制机构、7段12自由度人体模型进行了正逆运动学分析,建立了相应的机构模型,通过仿真验证了各机构运动学分析及机构模型的正确性,为动力学分析和控制系统研究奠定了基础。根据人体步行运动中步态及骨盆运动特点,对步态控制机构和骨盆控制机构进行了运动规划,给出了步态控制机构运动规划方法和骨盆控制机构运动的参数化模型及模型参数优化方法。该方法可生成满足不同对象、步速、步态时相的人体步态运动,且满足人体下肢关节生理约束,符合协调步行运动中下肢各关节的运动规律,满足下肢康复训练要求。基于对人体负载的力学分析,建立步态机构和骨盆控制机构的动力学模型,并进行了逆动力学仿真研究,仿真结果为驱动器及减速器的选择提供了参考数据。针对步态机构和骨盆控制机构控制要求和负载特点,确定了相应机构控制策略,建立了控制系统仿真模型,进行了控制系统仿真研究,获得了满足控制要求的控制器参数。在步态控制机构和骨盆控制机构仿真分析的基础上,建立了以被动人体为训练对象的人机系统模型,并进行了仿真研究。仿真研究结果验证了下肢康复机器人机构的合理性和运动规划方法的正确性。为机器人样机的进一步研制奠定了模型基础。更多还原

【Abstract】 A lower limbs rehabilitation robot is a kind of robot used for assist hemiple-gic or paralysis patients with walking difficulty caused by neuro diseases such as wind-stoke or brain injured to paractise walking after urgent stage.With the tradi-tional training methods, the therapists are very tired and it is difficult for patients to assure stabilization and persistence of the training. Robot technology has great advantage to realize the quantitative and repetitive motion input. Not only supply assistance motion from the beginning stage of the rehabiliton, which is more benefit to the occurrence of the function recombination or compensation in central neuro system, rehabilition robot can also supply multiple training modes, various scene environments and feedback the the training effectiveness in real time to sat-isfy the requirement of walking practice. It can be used in convalescent home and household.The robot has great practical value and wide maket prospect. This dis-sertation was sponsored by the Nation Natural Science Fund "Research on several key technologies about lower limbs rehablitive robot". The main research work covers the design of general mechanism and control scheme, analysis of the kinematics and dynamics, motion planning and control stragy of a noval limbs rehablition robot. The mechanism scheme, theoretical derivation, simulation model’s building and analysising were demonstrated in detail.This paper reviewed the reseach status of the lower limbs rehabition and ra-lated fields domestically and abroad. Based on the analysis of gait motion of the human, the general mechanism scheme and control scheme with three training modes of a novel lower limbs rehabition robot were bringed forward. The robot is consisted of a 4-DoF gait mechanism and a 5-DoF pelvis mechanism and they can be control harmoniously to generate three dimension gait motion of human to meet demand of rehabilitatiom training for patient.The forward and inverse kinematics of the gait control mechanism, pelvis control mechanism and 7-bar human body model with 12-DoF were analized, and then their mechanism models were build. By simulation, the corrections of kine-matics analysis and mechanism model were verified and build the foundation for the following dynamics analyses on these mechanisms. Considerring the characteristic of pelvis mechanism with two parelle branch chain, an analysis method to find the mechanism workspace was presented, which is also fit in the similar mechanisms to solve their workspace. Based on this method, an actual workspace was determind that can meet the demand of pelvis motion in the gait training。According to motion characteristics of the foot and pelvis when human walking in treadmill, the motion planning method of gait mechanism was pre-sented, and the paramaterized pelvis model and the optimizing method of the cor-responding parameter were presented. The human sticks maps in three vertical plane were draw and the hip, knee, ankle joint angles yieled were compared with the statistical gait joint angular data, and the rationality of above motion planning was checked.In order to analyzing the mechanism dynamics and control system, the Sim-Mechanis model of gait mechanism and pelvis mechanism were build. By kine-matics simulation, the correction was verified of the SimMechanis model and forward and inverse kinematics analysis of each mechanism. Their dynamic SimMechanics models with load were presented. The inverse dynamic simulaiton analyses of each mechanism were made and the desired motor and reducer pa-rameters were determined.The control system model of each mechanism were build in which the plant is the above dynamic SimMechanics models with load. According to load and re-quirements, the strategys of each control system were presented, and each con-troller parameters were adjusted by the LTI control analysis tool and singnal con-strait block.To verify the validation of the the motion planning and control systems, the passive human 7-bar solid SimeMechanics dynamics as the the real load, were integrated with the gait and pelvis mechanism control. The simulation results show the motion planning and control system were rational basically, meanwhile supplied useful reference data for developing the prototype and build foundation for the following research on control strategy of human and robot interaction.更多还原