面向多关节训练的并联柔索驱动下肢康复机器人设计与分析

doi:10.3901/JME.2024.17.111

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 111-122.doi: 10.3901/JME.2024.17.111

• 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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面向多关节训练的并联柔索驱动下肢康复机器人设计与分析

张禹泽¹, 赵竞夫¹, 赵振伟¹, 康荣杰^1,2,3, 戴建生^4,5, 宋智斌^1,2,3

1. 天津大学机械工程学院天津 300354;
2. 天津大学机构理论与装备设计教育部重点实验室天津 300354;
3. 天津大学现代机构学与机器人学中心天津 300354;
4. 南方科技大学机器人研究院深圳 518055;
5. 伦敦国王学院机器人学中心伦敦 WC2R 2LS 英国

收稿日期:2023-08-09 修回日期:2024-01-19 发布日期:2024-10-21
作者简介:张禹泽，男，1999年出生，硕士研究生。主要研究方向为康复机器人。E-mail:zhangyzpangue@tju.edu.cn
宋智斌(通信作者)，男，1983年出生，博士，副教授，博士研究生导师。主要研究方向为机构学、康复医疗机器人、水下机器人。E-mail:songzhibin@tju.edu.cn
基金资助:
国家自然科学基金面上项目(51975401)和国家自然科学基金创新研究群体项目(51721003)资助项目。

Design and Analysis of a Parallel Cable Driven Lower Limb Rehabilitation Robot for Multi Joints Training

ZHANG Yuze¹, ZHAO Jingfu¹, ZHAO Zhenwei¹, KANG Rongjie^1,2,3, DAI Jiansheng^4,5, SONG Zhibin^1,2,3

1. School of Mechanical Engineering, Tianjin University, Tianjin 300354;
2. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin 300354;
3. International Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin 300354;
4. Institute for Robotics, Southern University of Science and Technology, Shenzhen 518055;
5. Centre for Robotics Research, King's College London, London WC2R 2LS, UK

Received:2023-08-09 Revised:2024-01-19 Published:2024-10-21

摘要/Abstract

摘要： 目前我国康复需求巨大，并呈现持续增长趋势，康复机器人是解决这一问题的重要手段。针对现有下肢康复机器人在人机交互、训练方式及经济性等方面的局限，提出了一种采用柔索机构的并联柔索驱动下肢康复机器人，通过四根并联分布的柔索实现对使用者下肢大范围被动训练运动。建立了该机器人的运动学、静力学模型，并对柔索驱动中的滑轮摩擦力进行了建模与辨识。针对使用者的每次使用所处位置不确定的问题，提出了一种无需借助外部设备的使用者位置自主辨识方法。基于位置辨识，该机器人对使用者康复训练参数进行适应性调整，以实现精确康复策略。搭建了实验平台，通过实验验证了使用者位置自主辨识的可行性，并探究了关节力矩以及受力的规律，检验了下肢康复机器人被动训练的准确性。

关键词: 下肢康复, 柔索驱动, 位置辨识, 摩擦力, 柔性康复机器人

Abstract: At present, rehabilitation demand in China is huge and showing a continuous growth trend, rehabilitation robots are an important means to solve this problem. In view of the limitations of existing lower limb rehabilitation robots in terms of human-computer interaction, training methods and economy, a cable-driven parallel lower limb rehabilitation robot is proposed, which realizes a wide range of movement of the user’s lower limbs through four cables distributed in parallel. The kinematics and statics model of the robot are established, and the pulley friction in the cable-driven mechanism is modeled and identified. Aiming at the problem that the user’s position is uncertain each time, a method for auto-identification of the user’s location without the help of external devices is proposed. Based on this position recognition parameter, the robot adapts the user’s rehabilitation training parameters each time to achieve a precise rehabilitation strategy. An experimental platform is built to verify the feasibility of independent identification of user position through experiments, and the law of joint torque and force is explored, and the accuracy of passive training of lower limb rehabilitation robot is tested.

Key words: lower limb rehabilitation, cable driven, position identification, frictional force, soft rehabilitation robot

中图分类号:

TG156

张禹泽, 赵竞夫, 赵振伟, 康荣杰, 戴建生, 宋智斌. 面向多关节训练的并联柔索驱动下肢康复机器人设计与分析[J]. 机械工程学报, 2024, 60(17): 111-122.

ZHANG Yuze, ZHAO Jingfu, ZHAO Zhenwei, KANG Rongjie, DAI Jiansheng, SONG Zhibin. Design and Analysis of a Parallel Cable Driven Lower Limb Rehabilitation Robot for Multi Joints Training[J]. Journal of Mechanical Engineering, 2024, 60(17): 111-122.

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面向多关节训练的并联柔索驱动下肢康复机器人设计与分析

Design and Analysis of a Parallel Cable Driven Lower Limb Rehabilitation Robot for Multi Joints Training

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