康复助行机器人仿真设计与分析

doi:10.3969/j.issn.1000-1093.2018.04.023

兵工学报 ›› 2018, Vol. 39 ›› Issue (4): 825-832.doi: 10.3969/j.issn.1000-1093.2018.04.023

• 论文 • 上一篇

康复助行机器人仿真设计与分析

乔宇^1,2，穆煜²，吕韫琦²，高学山²

(1.北方工业大学机械与材料工程学院, 北京 100144; 2.北京理工大学机电学院, 北京 100081)

收稿日期:2017-07-14 修回日期:2017-07-14 上线日期:2018-05-30
作者简介:乔宇（1987—），男，讲师。E-mail:499904295@qq.com
基金资助:
北方工业大学科研启动基金项目(2016年)

Walking-aid Robot for Rehabilitation of Person with Disabled Lower Limbs

QIAO Yu^1,2， MU Yu²， LYU Yun-qi²， GAO Xue-shan²

(1.College of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China;2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China)

Received:2017-07-14 Revised:2017-07-14 Online:2018-05-30

摘要/Abstract

摘要： 为帮助因战争引起的下肢残障者进行康复训练，设计了一种具有安全性强、智能化程度高、人机交互友好等特点的助行机器人。采用运动学和动力学分析方法获得运动方程和力检测模型，分别建立了机器人直行与原地转弯情况下的运动控制系统；基于人因工学研究与工业造型优化设计的结果，使机器人达到了功能性与美观性的有机结合；通过仿真实验，验证了所设计的机器人在伴随患者进行移动式训练时可提供安全保护。结果表明，该机器人在下肢康复训练过程中是有效与可行的。

关键词: 机器人, 行走障碍, 康复训练, 行走驱动, 人机交互

Abstract: A walking-aid robot is designed for rehabilitation training of person whose is lower limbs are disabled. The robot is characterized by high security, high intelligence and friendly man-machine interaction. The structure of the robot is presented,and the trajectory of the robot is obtained by analyzing its kinematics and dynamics. The motion control systems for straight walking and turning of robot are set up based on the mathematical model.The ergonomics and appearance design of the robot are studied to achieve the combination of function and appearance. The feasibility and effectiveness of the walking-aid robot is demonstrated through simulation experiments.Key

Key words: robot, walkingdisorder, rehabilitationtraining, walkingdriving, man-machineinteraction

中图分类号:

TP242.3

乔宇，穆煜，吕韫琦，高学山. 康复助行机器人仿真设计与分析[J]. 兵工学报, 2018, 39(4): 825-832.

QIAO Yu， MU Yu， LYU Yun-qi， GAO Xue-shan. Walking-aid Robot for Rehabilitation of Person with Disabled Lower Limbs[J]. Acta Armamentarii, 2018, 39(4): 825-832.

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康复助行机器人仿真设计与分析

Walking-aid Robot for Rehabilitation of Person with Disabled Lower Limbs

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