【作者】 赵明；

【导师】 项忠霞；

【作者基本信息】 天津大学 ， 机械工程， 2016， 硕士

【摘要】 本文根据目前国内下肢运动功能障碍患者人数逐渐增多,下肢康复训练人力成本过高等现状,在国家自然科学基金的资助下,以外骨骼下肢康复训练机器人为研究对象,以研制一种能够满足个性化康复训练需求且训练有效的下肢康复机器人为目的,开展了步态分析、机器人结构设计、人-机系统训练过程仿真及机器人结构改进等方面的研究工作。论文主要研究内容及成果如下:1.分析国内下肢康复治疗的需求,并对下肢康复机器人的研究现状进行总结,在分析各种下肢康复机器人结构的优劣的基础上,选择以外骨骼式下肢康复机器人为研究对象,以人体生物力学分析软件AnyBody为平台,选择某特定人体,键入其参数信息,建立了人-机仿真系统。2.借助人-机仿真系统,实现了康复机器人训练过程仿真。通过步行过程仿真分析,获取了在步行过程中的下肢主要肌肉的长度与伸缩速率变化的参数。比较了在不同驱动速度下这两项参数的相对变化情况,根据分析结果对下肢康复机器人的运行速度做出了合理的规划,并证明了在常速及慢速的训练状态下,康复训练的安全性能够得到保障。3.比较了在外骨骼式下肢康复机器人驱动及正常步行两种条件下的下肢主要肌肉长度及伸缩速率变化情况。再对外骨骼髋关节结构改进的基础上进行了一系列训练效果仿真分析,分析结果表明,增加了髋关节自由度的外骨骼结构比只能实现矢状面内运动的外骨骼结构的康复训练有效性有了一定程度上的提高。又在理论上对人体膝关节生理结构作出了分析,为外骨骼膝关节设计提供了新的思路。更多还原

【Abstract】 In this paper,according to the current situations,that the number of lower limb motion function disorder patients is increasing,the costs of lower limb rehabilitation is growing,with the support by the National Natural Science Foundation,in order to develop an exoskeleton lower limb rehabilitation robot,the study of gait analysis,robot structure design,human-machine system simulation and robot structure improvement has been conducted,in order to develop a sort of lower limb rehabilitation robot to meet the demand of rehabilitation training.The main contents and achievements in the paper are as follows:1.Analyze the demands of internal rehabilitation treatment,summarize the research status about lower limb rehabilitation robot,compare the robot structures and choose the exoskeleton rehabilitation robot as basis,establish the human-machine system based on the biomechanics analysis software AnyBody.2.By using the human-machine system,achieve the simulation of training process about the rehabilitation robot.Obtain the main muscles’ length and contraction velocity changing conditions.And compare these parameters’ changing situations in the human-machine system with different machine driving speed.Reasonably plan the driving velocity of lower limb rehabilitation robot according to the analysis results,and prove that under the constant or slow driving speed,the safety of rehabilitation robot can be guaranteed.3.By comparing the major muscles’ length and contraction velocity changing conditions in the driving of exoskeleton lower limb robot with in normal walking,point out that the exoskeleton structure that only achieve the movement in the sagittal plane has some deficiencies according to the analysis results.Improve the hip and knee joint structure of the exoskeleton and make the rehabilitation training effectiveness enhance to some extent.更多还原