• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 156-166.doi: 10.3901/JME.2024.17.156

• 特邀专栏:面向人民生命健康的机器人技术 • 上一篇    下一篇

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紧凑型刚柔耦合腰部康复机器人设计与分析

郑思远1, 田俊杰1, 王立鹏2, 刘世创1, 王洪波1,3, 牛建业1,4   

  1. 1. 燕山大学河北省并联机器人及机电系统实验室 秦皇岛 066004;
    2. 山东大学控制科学与工程学院 济南 250061;
    3. 复旦大学工程与应用技术研究院 上海 200433;
    4. 燕山大学先进锻压成形技术与科学教育部重点实验室 秦皇岛 066004
  • 收稿日期:2023-07-31 修回日期:2023-10-20 发布日期:2024-10-21
  • 作者简介:郑思远,男,1998年出生。主要研究方向为康复机器人。E-mail:siyuan-z@stumail.ysu.edu.cn
    牛建业(通信作者),男,1982年出生,博士,副教授,博士研究生导师。主要研究方向为康复机器人及并联机器人技术。E-mail:jyniu@ysu.edu.cn
  • 基金资助:
    国家自然科学基金(52275034)、教育部“春晖计划”合作科研(HZKY20220249)和河北省高等学校科学技术研究(QN2022166)资助项目。

Design and Analysis of Compact Rigid-flexible Coupled Waist Rehabilitation Robot

ZHENG Siyuan1, TIAN Junjie1, WANG Lipeng2, LIU Shichuang1, WANG Hongbo1,3, NIU Jianye1,4   

  1. 1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
    2. Academy for Control Science & Engineering, Shandong University, Jinan 250061;
    3. Academy for Engineering & Technology, Fudan University, Shanghai 200433;
    4. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004
  • Received:2023-07-31 Revised:2023-10-20 Published:2024-10-21

摘要: 腰椎间盘突出等腰部疾病多由脊柱失稳所致,从该致病成因出发,基于中医“椎曲论”提出一种新型腰部康复机器人。首先,为面向腰部疾病临床康复需求,机器人采用刚柔耦合的结构形式,其主要包括由一组柔性驱动器构成的柔性曲度拟合机构和基于3-PRS并联机构的刚性并联调姿机构,可实现腰椎曲度的精准调节;并基于模块化、小型化设计理念,将各模块紧凑布置,便于在家庭中使用。其次,为确保多柔性驱动器末端拟合曲线的平滑性,计算在不同曲率时各单体驱动器伸长量间的关系。之后,考虑纤维嵌入式气动肌肉的结构特点,建立柔性驱动器的静态数学模型,并基于螺旋理论求解3-PRS并联机构的位置反解。最后,开展柔性驱动器静态特性试验与并联机构运动性能试验,并通过人机交互力与肌电信号的采集、分析,对机器人的康复性能进行评估。结果表明,该腰部康复机器人能够实现预定的康复功能,是一款应用前景良好的腰部康复设备。

关键词: 腰部康复, 刚柔耦合, 柔性驱动器, 并联机构, 性能分析

Abstract: Waist diseases such as lumbar disc herniation are mostly caused by spinal instability. Starting from this pathogenic cause, a new type of waist rehabilitation robot is proposed based on the vertebral curvature theory of traditional Chinese medicine. Firstly, to meet clinical needs of waist rehabilitation, the rigid-flexible coupled structure is adopted, which mainly consists of a flexible curvature fitting mechanism composed of a set of soft actuators and a rigid parallel posture adjustment mechanism based on a 3-PRS parallel mechanism. It can realize the precise adjustment of lumbar curvature. And based on the concept of modularization and miniaturization, the modules are compactly arranged for easy use in family. Secondly, to ensure the smoothness of the fitting curves at the end of the multi-soft actuators, the relationship between the elongation of each soft actuator at different curvatures is calculated. Afterwards, considering the structural characteristics of fiber-embedded pneumatic muscles, the static mathematical model of the soft actuator is established, and the position inverse solution of the 3-PRS parallel mechanism is solved based on the screw theory. Finally, the static characteristics tests of soft actuators and the motion performance experiments of parallel mechanism are conducted. And the rehabilitation performance of the robot is evaluated through the acquisition and analysis of human-machine interaction forces and electromyographic signals. The results show that the waist rehabilitation robot can effectively achieve the predetermined rehabilitation functions. It is a promising waist rehabilitation device with good application prospects.

Key words: waist rehabilitation, rigid-flexible coupled, soft actuator, parallel mechanism, performance analysis

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