新型卧式下肢康复训练机器人机械系统设计.pdf

Mar. 2013, Vol. 28,
Chinese Journal of Rehabilitation Medicine,
·康复工程·
新型卧式下肢康复训练机器人机械系统设计
方涛涛 1 韩建海 1,3 王会良 1 尤爱民 2
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。
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
中图分类号:R496 文献标识码:A 文章编号:1001-1242(2013)-03-0246-05
New horizontal lower limb rehabilitative robot/FANG Taotao,HAN Jianhai,WANG Huiliang,et al.//Chinese
Journal of Rehabilitation Medicine, 2013, 28(3): 246—250
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 plish 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 re-
habilitative robot had been designed. The mechanical leg had four degrees of freedom and position of con-
trol 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 singu-
larity-free. Healthy person fortable during experience in the ro