人机相容型肩关节康复外骨骼机构的运动学与灵活性分析

doi:10.3901/JME.2018.03.046

机械工程学报 ›› 2018, Vol. 54 ›› Issue (3): 46-54.doi: 10.3901/JME.2018.03.046

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人机相容型肩关节康复外骨骼机构的运动学与灵活性分析

李剑锋¹, 刘钧辉¹, 张雷雨¹, 陶春静², 季润², 赵朋波¹

1. 北京工业大学北京市先进制造技术重点实验室北京 100124;
2. 国家康复辅具研究中心北京 100176

收稿日期:2016-12-12 修回日期:2017-09-12 出版日期:2018-02-05 发布日期:2018-02-05
通讯作者: 张雷雨(通信作者),男,1988年出生,博士,讲师。主要研究方向为机器人机构学和穿戴外骨骼技术。E-mail:zhangleiyu1988@126.com
作者简介:李剑锋,男,1964年出生,教授,博士研究生导师。主要研究方向为机器人机构学和穿戴外骨骼技术。E-mail:lijianfeng@bjut.edu.cn;刘钧辉,男,1990年出生,硕士研究生。主要研究方向为康复机器人机构学。E-mail:2277105276@qq.com
基金资助:
国家自然科学基金（51675008，51705007）、北京市自然科学基金（3171001）、中国博士后科学基金（2016M600021）和北京市科技计划（Z161100001516004）资助项目。

Kinematics and Dexterity Analysis of the Human-machine Compatible Exoskeleton Mechanism for Shoulder Joint Rehabilitation

LI Jianfeng¹, LIU Junhui¹, ZHANG Leiyu¹, TAO Chunjing², JI Run², ZHAO Pengbo¹

1. Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing 100124;
2. National Research Center for Rehabilitation Technical Aids, Beijing 100176

Received:2016-12-12 Revised:2017-09-12 Online:2018-02-05 Published:2018-02-05

摘要/Abstract

摘要： 针对人体肩关节运动障碍的康复训练需求，提出一种3R-PU型串联肩关节康复外骨骼机构，可以实现肩关节的内收/外展、前屈/后伸和内旋/外旋运动。通过在人机界面引入被动关节P和U，使外骨骼机构与上臂形成的人机闭链转化为3-DOF运动学恰约束系统，实现外骨骼机构与人体上臂的运动学相容。基于人体肩部各关节间的运动耦合分析，得到盂肱关节转心（Center of glenohumeral，CGH）在上臂抬升过程中相对于胸骨的位置变化关系。通过建立人机闭链的运动学模型，并进行位置逆解析，得到外骨骼机构各运动副的角位移变化曲线；同时，推导了人机闭链的速度雅可比矩阵，进行了运动灵活性分析。结果表明：被动关节P和U的运动幅度均较大，引入被动关节有益于解除人机界面处的运动约束，进而降低人机之间的约束强度；当上臂在0°、45°、90°和135°抬升面内运动时，外骨骼机构具有较好的运动灵活性。研究结果为外骨骼机构的运动规划与控制提供了分析依据。

关键词: 肩关节康复, 人机相容性, 外骨骼机构, 运动灵活性, 运动学分析

Abstract: For the rehabilitation needs of shoulder joint movement disorder, a 3R-PU serial shoulder rehabilitation exoskeleton mechanism is proposed to realize the movements of abduction/adduction, flexion/extension, internal/external. To realize human-machine kinematic compatibility, the human-machine closed chain which consists of the exoskeleton mechanism and the upper limb is translated into an exact kinematic constraints system with three degrees of freedom by introducing a passive sliding pair P and a hooke hinge U in the human-machine interface. Based on the kinematic coupling analysis of related joints in shoulders, the position changes relationship of the center of glenohumeral joint (CGH) relative to the location of the sternum are obtained. The angular displacement curves of kinematic pairs of the exoskeleton mechanism are acquired by establishing the model of the human-machine closed chain and solving the position inverse solution. Furthermore, the velocity Jacobian matrix of the human-machine closed chain is derived and the kinematic dexterity is analyzed. The results show that the motion amplitude of passive joint P and U are larger in the rehabilitation training process, passive joints introduced are beneficial to release motion constraints of human-machine interface, and then the constraint intensity of human-machine is reduced. Meanwhile, this exoskeleton mechanism has better kinematic dexterity when the upper arm is elevated at 0°, 45°, 90° and 135° lifting surface. The above research results will provide analysis basis for the exoskeleton mechanism motion planning and control.

Key words: exoskeleton mechanism, human-machine compatibility, kinematic dexterity, kinematical analysis, shoulder joint rehabilitation

中图分类号:

TP24

李剑锋, 刘钧辉, 张雷雨, 陶春静, 季润, 赵朋波. 人机相容型肩关节康复外骨骼机构的运动学与灵活性分析[J]. 机械工程学报, 2018, 54(3): 46-54.

LI Jianfeng, LIU Junhui, ZHANG Leiyu, TAO Chunjing, JI Run, ZHAO Pengbo. Kinematics and Dexterity Analysis of the Human-machine Compatible Exoskeleton Mechanism for Shoulder Joint Rehabilitation[J]. Journal of Mechanical Engineering, 2018, 54(3): 46-54.

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人机相容型肩关节康复外骨骼机构的运动学与灵活性分析

Kinematics and Dexterity Analysis of the Human-machine Compatible Exoskeleton Mechanism for Shoulder Joint Rehabilitation

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