基于人机一体化系统五杆机构的下肢主动训练研究与实验

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-03-14 DOI:10.1017/s0263574724000304
Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang
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引用次数: 0

摘要

鉴于目前对下肢主被动康复训练的研究主要基于外骨骼原型的分析,缺乏对肢体实际运动规律的分析,研究了下肢主动康复训练的人机耦合动态特性。本文在创新性地将下肢与康复原型机整合为人机一体化系统并等效为五杆机构的基础上,求解了其正反运动学特性。根据髋关节、膝关节和踝关节的约束关系,构建了人体生理关节运动约束下的拉格朗日动力学方程和五杆机构仿真模型,解决了闭环五杆机构的仿真问题。建立关节角度实验系统,开展康复训练实验,分析下肢误差与身高、体重和 BMI 的关系,提出适合不同下肢尺寸人群的个性化训练规划方法。实验证明了该方法的可靠性。因此,我们可以在传统康复训练的基础上获得肢体运动规律,适当降低训练速度或减少人机位置距离,降低训练速度或增加人机距离来减少误差,分别获得更接近髋关节和膝关节理论的运动范围角度,从而达到更好的康复效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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