新型卧式下肢康复训练机器人机械系统设计

关键词：下肢；康复训练  机器人  康复训练模式  伺服系统  脑卒中

Keywords:lower limb  rehabilitation training  robot  rehabilitation training mode  servo system  stroke

摘要：

      摘要 目的：面向长期卧床的脑卒中偏瘫患者和下肢行走功能虚弱的患者，研究一种卧式下肢康复训练机器人，帮助他们在床上完成下肢的日常康复训练。 方法：在对多种康复训练模式进行分析的基础上，本文设计了一种新型卧式四自由度下肢康复训练机器人。本文详细叙述了四自由度机械腿的机械结构设计和控制系统的构成，并制作出了实验样机。 结果：经过多模式重复实验，机器人动作平稳，正常人上机体验，下肢感觉舒适，关节活动角度与设定角度一致，能够很好地满足多种康复训练模式的要求满足人体关节运动需求。 结论：该卧式康复结构具有可行性，有助于脑卒中患者做下肢早期的康复训练，可以减轻康复治疗师的工作负担。

Abstract:

      Abstract Objective: To develop a kind of robot which was geared to the needs of bedridden stroke patients as well as weak for walking patients and help them to accomplish rehabilitation daily training of their lower limbs in bed. Method: On the basis of having analyzed multiple rehabilitation models, a kind of new horizontal lower limbs rehabilitative robot had been designed. The mechanical leg had four degrees of freedom and the composition of control system was studied in detail. The experimental prototype was performed. Result: After pattern repeated tests，the following points could be authenticated：The robot moved stably and singularity-free. Healthy person felt comfortable during experience in the robot. The joint angle was consistent with being expected. So the structure could well meet the demand of variety rehabilitation modes. Conclusion：The horizontal lower limb rehabilitation structure is feasible, and is helpful to do early rehabilitation exercise and reduce the work of physical therapists.