髋关节康复机器人的运动学分析与仿真

doi:10.3778/j.issn.1002-8331.2112-0353

摘要/Abstract

摘要： 康复机器人能够按照指定轨迹稳定运行是康复过程安全性和有效性的重要保证，因此机器人末端位姿与人体患肢位姿应保持高度重合，同时康复机器人应具备适应不同人体患肢长度的能力。为此提出了机器人与人体患肢运动学模型关联的计算方法。对所设计的平卧式五自由度髋关节康复串联机器人建立了运动学数学模型。将人体下肢简化为四自由度两关节连杆，建立人体的运动学模型，根据人体下肢参数计算患肢末端位姿，并将其作为输入条件代入机器人运动学模型求解，得到机器人的关节变量对关节转动进行控制。以屈髋和内旋动作为例，应用SimMechanics进行仿真，得到的各关节角度与目标设定值一致，且机器人关节角度范围满足人体髋关节活动度的康复要求。分析了下肢长度测量误差对髋关节康复角度及位置的影响。结果表明当大腿长度占比测量偏差为0.5%，位置偏差小于6 mm时，关节角度偏差小于1°

关键词: 髋关节, 康复机器人, 运动学分析, 仿真

Abstract: The stable operation of the rehabilitation robot according to the specified trajectory is an important guarantee for the safety and effectiveness of the rehabilitation process. Therefore, the end pose of the robot should be highly coincident with the pose of the human limb, and the rehabilitation robot should have the ability to adapt to different lengths of the human limb. A calculation method for the correlation between robot and human limb kinematics model is proposed. The kinematics mathematical model of the designed supine 5-DOF hip rehabilitation series robot is established. The human lower limb is simplified into a four degree of freedom two joint linkage mechanism. The kinematics model of the human body is established. According to the parameters of the human lower limb, the end pose of the affected limb is calculated, which is substituted into the robot kinematics model as the input condition to obtain the joint variables of the robot to control the joint. Taking hip flexion and internal rotation as an example, SimMechanics is used to simulate. The angle of each joint obtained is consistent with the target setting value, and the range of robot joint angle meets the rehabilitation requirements of human hip joint range of motion. The influence of lower limb length measurement error on hip rehabilitation angle and position is analyzed. The results show that when the measurement deviation of thigh length is 0.5% and the position deviation is less than 6 mm, the joint angle deviation is less than 1°.

Key words: hip joint, rehabilitation robot, kinematic analysis, simulation

谭苗苗, 贾延奎. 髋关节康复机器人的运动学分析与仿真[J]. 计算机工程与应用, 2023, 59(6): 333-340.

TAN Miaomiao, JIA Yankui. Kinematic Analysis and Simulation of Hip Rehabilitation Robot[J]. Computer Engineering and Applications, 2023, 59(6): 333-340.

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