膝关节康复机器人腿部人机界面设计研究

关键词：膝关节；人机工程  康复  机器人

Keywords:knee  ergonomics  rehabilitation  robot

摘要：

      目的：遵循人机工程学原理，设计康复训练机器人合理的腿部人机界面，以使得伤残者在进行膝关节康复训练时腿部受力合理、感觉舒适。方法：选取体格健壮的成年人4名，针对某型号膝关节康复机器人测定康复训练中主动模式下受试者小腿部受力数值；采用RSSCAN公司的足底压力测试系统测试受试者腿部在承受以上压力的情况时、不同人机界面情况下小腿受力的分布情况。结果：腿部压力主观感受测试中不合理的小腿夹持器人机界面使受试者感觉不适，小腿出现皮肤磨破、肌肉酸痛等不良反应；曲率半径为80mm和70mm时其中三位受试者的测试感觉较舒适，另外一名当曲率半径70mm和60mm时主观感受比较舒适。在腿部压力分布测试中曲率二（R=80mm）对应的最大压力数值最小，压力分布比较均匀。结论：由实验可得，小腿夹持器下表面曲率半径比小腿围换算圆半径(将小腿截面近似作为圆,以L=2?仔R,由圆周长计算半径R)大10—20mm左右压力基本达到等压，受试者反馈也比较舒适。对于不同腿围的受试者，合理的小腿人机界面曲率半径在一定范围内，且此范围取决于受试者的小腿围。

Abstract:

      Objective:According to principles of ergonomics, to design a reasonable knee rehabilitation robot′s human-machine interface to make the disabled more comfortable during rehabilitation training. Method: Four healthy adults were selected for measuring the pressure on the foreleg during active rehabilitation training following a certain knee rehabilitation robot. Then distribution of the pressure on different human-machine interfaces were measured by Rsscan foot scan system. Result: Foreleg-pressure subjective test showed, unreasonable human-machine interface which foreleg made volunteers felt uncomfortable, caused skin frazzle and muscle soreness; Three volunteers felt comfortable when curvature radius of human-machine interface on the foreleg was 70mm and 80mm, the other one felt comfortable when curvature radius was 60mm and 70mm. The foreleg-pressure distribution test showed that the pressure was isopiestic when curvature radius was 80mm. Conclusion:When curvature radius of human-machine interface on the foreleg was 10—20mm more than radius of human foreleg(the section of foreleg was assumed as circularity, calculating radius R as L=2?仔R), the volunteers felt more comfortable and the pressure on the foreleg was isopiestic. For different person the reasonable curvature radius of human-machine interface on the foreleg is within a certain range, which relies on the girth of the person′s foreleg.