基于移动平台的手臂康复机器人动力学建模与仿真分析。

IF 1.8 4区 计算机科学 Q3 ENGINEERING, BIOMEDICAL
Applied Bionics and Biomechanics Pub Date : 2025-05-27 eCollection Date: 2025-01-01 DOI:10.1155/abb/8254911
Tao Gong, Yuanyuan Lin, Yufeng Wang, Wenbin Wang, Wei Chen, Jiancheng Charles Ji
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引用次数: 0

摘要

针对日益增长的上肢康复训练和功能提升的需求,设计了一种可移动平台的上肢康复机器人,该机器人可在桌面上移动,通过被动力场进行上肢力量训练。该机器人提供了三个被动自由度(在桌面上的平面运动和绕垂直轴旋转),可以完成机器人辅助上肢的轨迹训练,如肩部、肘部和手腕的屈伸。同时,通过三根弹力绳在工作台上建立变化力场。用户首先通过抓取手柄和手臂支架连接机器人,然后屏幕显示参考轨迹(RT)并通知用户操纵机器人绘制轨迹,实际轨迹通过传感器计算并显示给用户以供调整肌肉力量。本文通过动力学建模,分析了车轮的参考轨迹、相应的角速度和力场分布。仿真研究分析了理论模型的有效性、运动性能和力场分布。路径跟踪仿真结果表明,“∞”型曲线的峰值误差为1.2 mm,“O”型曲线的峰值误差为0.9 mm。力分析结果表明,该机器人能产生环形力场,整个工作空间的最大力为9.8 N,弹性刚度为20 N/m。机器人沿圆周轨迹运动时,最大作用力为11.02 N,最小作用力为6.48 N。这些结果表明,机器人可以产生合适的力场来促进运动训练,为未来机器人的介入治疗铺平了道路。我们将优化结构参数并组装一个原型来测试机器人的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Dynamic Modeling and Simulation Analysis of an Arm Rehabilitation Robot With Mobile Platform.

In response to the ever-increasing demand of upper limb rehabilitation training and function improvement, a novel arm rehabilitation robot with mobile platform, which can move on the table, is designed to facilitate the upper limbs strength training via the passive force field. The proposed robot provides three passive degrees of freedom (plane motion on the table and rotation around the vertical axis), which can fulfill the robot-aided trajectory training for upper limbs, such as shoulder, elbow, and wrist flexion/extension. Meanwhile, changed force field was established on the table via three elastic ropes. The user first connects the robot by the grab handle and arm support, then the screen displays the reference trajectory (RT) and notifies the user to manipulate the robot to draw the trajectory, the actual trajectory is calculated via the sensors and displayed to feed the user to adjust the muscular strength. In this paper, the reference trajectories, corresponding angular velocity of the wheels and the distribution of force field are analyzed via the dynamic modeling. Simulation studies are carried out to analyze the effectiveness of the theoretical model, kinematic performance, and distribution of force field. The path tracking simulation results showed that the peak error was 1.2 mm for the "∞" curve and 0.9 mm for the "O" curve. The force analysis results showed that the robot can generate the circinate force field and the maximum force of the whole workspace was 9.8 N with the elastic rigidity was 20 N/m. Furthermore, the maximum force was 11.02 N and the minimum force was 6.48 N when the robot moved along the of the circular path. These results demonstrate that the robot can generate appropriate force field to facilitate the motor training and paved the way to interventional therapy of the robot in the future. We will optimize the structure parameters and assemble a prototype to test the performance of the robot.

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来源期刊
Applied Bionics and Biomechanics
Applied Bionics and Biomechanics ENGINEERING, BIOMEDICAL-ROBOTICS
自引率
4.50%
发文量
338
审稿时长
>12 weeks
期刊介绍: Applied Bionics and Biomechanics publishes papers that seek to understand the mechanics of biological systems, or that use the functions of living organisms as inspiration for the design new devices. Such systems may be used as artificial replacements, or aids, for their original biological purpose, or be used in a different setting altogether.
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