上肢康复机器人被动变刚度驱动器建模与试验

doi:10.3901/JME.2024.03.047

机械工程学报 ›› 2024, Vol. 60 ›› Issue (3): 47-54.doi: 10.3901/JME.2024.03.047

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上肢康复机器人被动变刚度驱动器建模与试验

李守忠¹, 管昀毅¹, 马冲¹, 赵剑龙¹, 赵宏哲²

1. 中国农业大学工学院北京 100083;
2. 北京航空航天大学机器人研究所北京 100191

收稿日期:2023-02-06 修回日期:2023-07-03 出版日期:2024-02-05 发布日期:2024-04-28
作者简介:李守忠,男, 1983 年出生,副教授。主要研究方向为柔性机构与柔性机器人设计、医疗康复机器人等。E-mail:lishouzhong@cau.edu.cn;管昀毅,男, 1997 年出生,硕士。主要研究方向为医疗康复机器人设计。E-mail:18811583899@163.com;马冲,男, 1998 年出生,硕士研究生。主要研究方向为柔性机构设计、柔性机器人。E-mail:Ma18631909428@163.com;赵剑龙,男, 1996 年出生,硕士研究生。主要研究方向为欠驱动机械手爪设计。E-mail:sy20213071426@cau.edu.cn;赵宏哲,男, 1981 年出生,副教授。主要研究方向为柔性机构设计,柔性精密定位及测量系统,医疗康复机器人等。
基金资助:
国家重点研发计划(2020YFC2007600)资助项目。

Modeling and Experiment of Passive Variable Stiffness Actuator for Upper Limb Rehabilitation Robot

LI Shouzhong¹, GUAN Yunyi¹, MA Chong¹, ZHAO Jianlong¹, ZHAO Hongzhe²

1. College of Engineering, China Agricultural University, Beijing 100083;
2. Robotics Institute, Beihang University, Beijing 100191

Received:2023-02-06 Revised:2023-07-03 Online:2024-02-05 Published:2024-04-28

摘要/Abstract

摘要： 康复机器人的关节往往要求良好的变刚度特性以适应人体的柔顺性。根据上肢的关节肌肉特点,对上肢康复圆周轨迹训练中不同位置的刚度需求进行分析,并在此基础上设计了一种新型被动变刚度驱动器,其通过凸轮-滚子-簧片机构产生变化的阻力矩,从而实现上肢圆周轨迹训练过程中不同位置的刚度变化。建立了被动变刚度装置的数学模型并通过仿真和试验验证了模型的准确性和设计方案的可行性。设计的被动变刚度驱动器满足上肢康复训练过程中的刚度变化规律,结构简单且无需额外驱动与控制。

关键词: 上肢康复, 被动变刚度, 簧片, 数学模型

Abstract: The joints of rehabilitation robots often require good variable stiffness characteristics to adapt to the compliance of the human body. According to the characteristics of the joints and muscles of the upper limbs, the stiffness requirements of different positions in the rehabilitation circular trajectory training of the upper limbs are analyzed, and a new passive variable stiffness driver is designed on this basis. Thereby, the stiffness changes at different positions during the training of the upper limb circular trajectory can be realized. The mathematical model of the passive variable stiffness device is established, and the accuracy of the model and the feasibility of the overall scheme are verified through software simulation and experiments. The passive variable stiffness drive realizes the stiffness change in the upper limb rehabilitation training process. The structure is simple and does not require additional driving and control.

Key words: upper limb rehabilitation, passive variable stiffness, reed, mathematical model

中图分类号:

TG156

李守忠, 管昀毅, 马冲, 赵剑龙, 赵宏哲. 上肢康复机器人被动变刚度驱动器建模与试验[J]. 机械工程学报, 2024, 60(3): 47-54.

LI Shouzhong, GUAN Yunyi, MA Chong, ZHAO Jianlong, ZHAO Hongzhe. Modeling and Experiment of Passive Variable Stiffness Actuator for Upper Limb Rehabilitation Robot[J]. Journal of Mechanical Engineering, 2024, 60(3): 47-54.

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上肢康复机器人被动变刚度驱动器建模与试验

Modeling and Experiment of Passive Variable Stiffness Actuator for Upper Limb Rehabilitation Robot

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