下肢外骨骼行走康复机器人研究.docx
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下肢外骨骼行走康复机器人研究
下肢外骨骼行走康复机器人研究
下肢外骨骼行走康复机器人研究(申请上海交通大学硕士学位论文)培养单位:
上
海交通大学塑形成形技术与装备研究院专业:
材料加工工程研究方向:
数字化制造
技术导师:
谢叻教授硕士生:
饶玲军二?
一二年二月RESEARCHOF
LOWER-LIMBEXOSKELETONWALKINGREHABILITATIONROBOTAThesis
SubmittedtoShanghaiJiaoTongUniversityForMasterDegreeMasterCandidate:
RAO
LingjunSupervisor:
Prof.XIELeDepartmentofPlasticityEngineeringShanghaiJiaoTongUniversityFebruary,2012上海交通大学硕士学位论文摘要下肢外骨骼行走康
复机器人研究摘要外骨骼机器人ExoskeletonRobot是一种可穿戴在操作者身体
外部的一种机械装置,提供保护、身体支撑和运动等功能。
本文首先学习了脊髓损
伤的医学理论以及截瘫产生的原因,明确下肢外骨骼机器人的任务和目标。
利用下
肢外骨骼行走康复机器人辅助患者摆脱轮椅重新站立并行走,不仅可以帮助截瘫患
者在生活上更加自立,而且可以恢复患者部分肌肉功能,降低脊髓损伤后并发症发
生的概率。
在研究过程中,分析人体下肢的生理结构和运动学,脊髓损伤后截瘫患
者的生理特征,包括截瘫后下肢的表现,异常运动模式与运动功能恢复形式。
在此
基础上,分析人体下肢的结构和运动学,结合人机系统的设计要求,将机器人的设
计方案制定为辅助人体下肢髋、膝、踝三个关节同时参与运动的外骨骼式机器人。
按
照这一方案,设计了下肢行走康复机器人的机械结构,并研制了样机。
该机器人是
一款有驱动的下肢外骨骼式机器人,包括了外骨骼本体和拐杖模块。
外骨骼机器人
单下肢具有三个自由度,分别是髋关节的屈曲/伸展;膝关节的屈曲/伸展;踝关节
的跖屈/背屈,利用较少的自由度来实现行走,降低了机构的复杂程度,提高了装置
的效率。
髋关节和膝I上海交通大学硕士学位论文摘要关节的运动通过驱动器实
现,该驱动器是在滚珠丝杠副基础之上加了两对受压弹簧,这可以有效地实现运动
的缓冲和模拟关节运动时肌肉的动作方式;踝关节自由度通过一副对拉弹簧实现,
可以有效地减少地面的对外骨骼本体的冲击能量。
拐杖模块是外骨骼机器人的控制
开关,同时也可以平衡患者行走时的重心,拐杖模块与下肢外骨骼本体机械上独立
并与外骨骼本体电连接。
外骨骼机器人通过采集拐杖与地面的接触信息来控制膝关
节和髋关节的屈伸运动,从而帮助患者实现跨步行走。
针对研制的外骨骼机器人模
型出现的问题,为后续研究者提出了改进建议。
关键词:
截瘫,下肢,康复行走,
机器人,外骨骼II上海交通大学硕士学位论文ABSTRACTRESEARCHOF
LOWER-LIMBEXOSKELETONWALKINGREHABILITATIONROBOT
ABSTRACTRehabilitationrobotisawearablemechanicaldevicewhichcanprotecttheoperatorsupportthebodyandhelptheoperatortowalk.Inthispapertheparaplegiacausedbyspinalcordinjuryhavebeenstudiedmakedefiniteofthemissionsandgoalsofthelowerextremityexoskeleton.Makinguseoflowerextremityexoskeletonrobottohelppatientsgetridofawheelchairtostandandwalkagainwhichcanhelpparaplegicsbemoreself-reliantintheirdailylivesandalsorestorepatients’somemusclefunction.Inthe
courseofthestudyafterunderstandingthecharacteristicsofparaplegiaafterspinalcordinjuryincludingtheperformanceoflowerlimbabnormalmovementpatternsandmotorfunctionrecoverypatterns.Thenthepaperlearnedthecommonmovementtreatmentafterparaplegia.Onthisbasisitanalyzedthestructureandkinematicsofhumanlower-limb.Combinedwithman-machinesystemdesignrequirementswedevelopthedesignproposaloflowerlimbexoskeletonrobotwhichassistedhipkneeanklejointsmoveatthesametime.1上海交通大学硕士学位论文ABSTRACTAccordingtothisschemethepaper
designedthemechanicalstructureofthelowerextremityexoskeletonrobot.Therobotconsistexoskeletonandcrutchmodulewhichweredrivenbytheelasticactuator.Eachlegoftheexoskeletonhasthreedegreesoffreedomnamelythehipflexion/extensionkneeflexion/extensionankleplantarflexion/dorsiflexiontaketheadvantageoftheindispensableDOFstodrivetherobotwhichcanreducethecomplexityofthestructureandimprovetheefficiencyofthedevice.Theformertwowasdrivenbytheactuator.Theactuatorisbasedonballscrewwhichconsistthetwopairsofcompressionspringsthiscanbeaneffectivewaytoachievetoreducethevibrationandsimulatedmuscleactionduringjointmovement.Thelatermovementcamefromonepairofpullspringwhichcanreducetheimpactenergyfromtheground.Thecrutchesmoduleisnotonlythecontrolswitchoftheexoskeletonrobotbutalsocanbalancethecentergravityofthepatientswhenwalking.Thecrutchmoduleisindependentwiththeexoskeletonbutconnectwiththeexoskeletoninelectrical.Bythewayofcollectingcontactinformationbetweencrutchesandthegroundwecancontrolthekneeandhipflexionandextensionthushelpingpatientstoachievestep.Duetotheproblemoftherobotmodel,Ihave
proposedsomerecommendationsforthefollow-upresearcher.Keywords:
paraplegialower-limbrehabilitationwalkrobotexoskeleton2上海交通大学硕士学位论文目录
目录摘
要..........................................................................................................................................
.....
IABSTRACT........................................................................................................................
..............1第一章绪
论..................................................................................................................................11.1
课题的背景和意
义.........................................................................................................................11.1.1
课题的背
景..............................................................................................................................11.1.2
课题的意
义..............................................................................................................................21.2
课题的国内外研究现状和发展趋
势.............................................................................................31.2.1国外研究现
状..........................................................................................................................31.2.2
国内研究现
状........................................................................................................................121.2.3
下肢外骨骼机器人发展趋
势................................................................................................141.3课题目前需要解
决的问题...........................................................................................................151.3.1
目前已具有的能
力................................................................................................................151.3.2技术
难点................................................................................................................................15
1.4课题的研究内
容...........................................................................................................................161.4.1
研究目
的................................................................................................................................161.4.2研究方
法................................................................................................................................161.4.3研究内
容................................................................................................................................171.5本论文的研究内容和组织结
构...................................................................................................17第二章脊髓损伤后下肢运动及康复需求....................................................................................182.1脊髓损伤后截瘫的本质...............................................................................................................
182.1.1脊髓损伤概
述........................................................................................................................182.1.2截瘫概
述.................................................................................................................................21
2.2下肢解剖
学...................................................................................................................................212.3人体行走步态原
理.......................................................................................................................252.4脊椎损伤后截瘫的康复评定标
准................................................................................................282.5本章小
结........................................................................................................................................29第三章外骨骼机器人机械结构设
计...........................................................................................303.1人体下肢自由度分布和尺寸.......................................................................................................323.2材料的选择...................................................................................................................................333.3总体结构设
计................................................................................................................................341上海交通大学硕士学位论文目录3.4踝关节及足部模
块.......................................................................................................................353.5膝关节运动模
块............................................................................................................................373.6髋关节运动模
块...........................................................................................................................383.7腰部及支撑架模
块........................................................................................................................393.8弹性驱动器模
块...........................................................................................................................393.8.1机器人的驱动形式概
述........................................................................................................393.8.2驱动机构的设计与选择........................................................................................................403.9
拐杖模
块.......................................................................................................................................
433.9.2外骨骼机器人的运动控制方
式.............................................................................................443.10关节限位设
计..............................................................................................................................453.11外骨骼机器人的加工与装
配.....................................................................................................463.12本章小
结.....................................................................................................................................47第四章下肢外骨骼机器人运动控制设
计....................................................................................484.1运动控制概
述...............................................................................................................................484.2驱动器行程的确
定........................................................................