轻量化自适应柔性踝关节康复机器人设计与评估

doi:10.3901/JME.2022.09.010

机械工程学报 ›› 2022, Vol. 58 ›› Issue (9): 10-20.doi: 10.3901/JME.2022.09.010

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轻量化自适应柔性踝关节康复机器人设计与评估

尹帅^1,2, 石斌^1,2, 孙逸凡³, 槐雅萍⁴, 王晶^1,2

1. 西安交通大学机械工程学院西安 710049;
2. 西安交通大学陕西省智能机器人重点实验室西安 710049;
3. 西安交通大学自动化科学与工程学院西安 710049;
4. 康复医学器械设备开发转化联合重点实验室深圳 518110

收稿日期:2021-05-22 修回日期:2021-12-03 出版日期:2022-05-05 发布日期:2022-06-23
通讯作者: 王晶(通信作者)，男，1981年出生，博士，副教授，博士研究生导师。主要研究方向为脑机接口与康复机器人。E-mail：wangpele@gmail.com E-mail:wangpele@gmail.com
作者简介:尹帅，男，1996年出生，博士研究生。主要研究方向为踝关节康复机器人与智能控制。E-mail：yinshuai2018@stu.xjtu.edu.cn
基金资助:
陕西省重点研发计划(2019SF-109)资助项目

Design and Evaluation of Lightweight Adaptive Flexible Ankle Rehabilitation Robot

YIN Shuai^1,2, SHI Bin^1,2, SUN Yifan³, HUAI Yaping⁴, WANG Jing^1,2

1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049;
2. Shaanxi Provincial Key Laboratory of Intelligent Robots, Xi'an Jiaotong University, Xi'an 710049;
3. School of Automation Science and Engineering, Xi'an Jiaotong University, Xi'an 710049;
4. Joint Key Laboratory of Rehabilitation Medical Equipment Development and Transformation, Shenzhen 518110

Received:2021-05-22 Revised:2021-12-03 Online:2022-05-05 Published:2022-06-23

摘要/Abstract

摘要： 针对脑卒中患者步行过程中踝关节背屈力不足而造成足下垂和踝关节跖屈力下降而造成站立末期推进力不足，进而导致步态不稳及容易摔倒等问题，设计一款新型柔性踝关节康复机器人。首先，鉴于刚性踝关节机器人增加了脑卒中患者新陈代谢及心理不适感，本研究采用功能性纺织物与鲍登线传输装置相互作用实现踝关节力辅助，轻质且隐蔽，同时，采用单电机双向驱动方式，减少了驱动模块的质量和体积，研制嵌入鞋套的拉力传感器，轻质且实现了辅助力实时检测。然后，为适用于不同体型的穿戴者，采用分级控制，上层控制包括步态运动意图识别及鲍登线轨迹生成算法，下层控制参照鲍登线轨迹实现踝关节跖屈与背屈辅助，提出了一种基于步态事件的鲍登线轨迹生成算法，实现了控制参数自适应调整，提高了系统鲁棒性。最后，搭建实验测试平台验证了机器人辅助效果，在机器人提供动力辅助时，踝关节站立末期跖屈角度与摆动期背屈角度均提高，站立末期地面推进力增加；相比之下，在机器人不提供动力辅助时，跖屈侧被动拉力在站立末期提供跖屈辅助，提高地面推进力。结果表明该柔性康复机器人具有增加站立末期地面推进力和改善摆动期离地间隙的作用，是一种前景良好的踝关节康复设备。

关键词: 踝关节康复, 柔性康复机器人, 分级控制, 自适应交互

Abstract: To solve the problem of gait instability or falling during the walking process for stroke survivors, a new flexible ankle rehabilitation robot (FARR) was designed to improve abnormal gait that caused by the foot drop due to insufficient ankle dorsiflexion (DF) and insufficient propulsion as a result of insufficient ankle plantarflexion (PF). First of all, in view of the impact that the rigid ankle joint robot increases the metabolism and psychological discomfort of stroke survivors, the FARR transmitted mechanical power generated by an actuator to a wearer through the interaction of functional textiles and Bowden cable (BC) transmissions and its features are lightweight and concealed. Furthermore, the single-motor bidirectional drive mode was adopted to reduce the mass and volume of the actuator. A lightweight tension sensor which is embedded in the shoe cover was developed to realize real-time detection of auxiliary force. Then, the hierarchical control was adopted to make that the FARR can be used for wearers with different body types and gaits. The high-level controller included gait movement intention recognition and BC trajectory generation algorithm based on gait events, which is used to realize adaptive adjustment of control parameters and improve system robustness. The low-level controller refers to the BC trajectory to assist ankle joint PF and DF. Finally, the experimental platform was built to test the auxiliary effect of the FARR. When the FARR provided assistance, the PF angle and ground propulsion of the subject increased at the terminal stance, and the DF angle of the subject also increased during the swing phase. Moreover, when the FARR did not provide power assistance, the PF passive force provided PF assistance to enhance ground propulsion of the subject at the terminal stance. The results show that the FARR is a promising ankle rehabilitation device that has the effect of improving the ground propulsion and plantar clearance for stroke survivors.

Key words: ankle rehabilitation, flexible rehabilitation robot, hierarchical control, adaptive interaction

中图分类号:

TP242

尹帅, 石斌, 孙逸凡, 槐雅萍, 王晶. 轻量化自适应柔性踝关节康复机器人设计与评估[J]. 机械工程学报, 2022, 58(9): 10-20.

YIN Shuai, SHI Bin, SUN Yifan, HUAI Yaping, WANG Jing. Design and Evaluation of Lightweight Adaptive Flexible Ankle Rehabilitation Robot[J]. Journal of Mechanical Engineering, 2022, 58(9): 10-20.

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轻量化自适应柔性踝关节康复机器人设计与评估

Design and Evaluation of Lightweight Adaptive Flexible Ankle Rehabilitation Robot

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