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带有 PBWS 系统的机器人辅助步态训练器的设计与仿真分析。

Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System.

机构信息

Institute of Intelligent Manufacturing, Shenzhen Polytechnic, 4089 Shahe West Road, Shenzhen 518055, China.

People's Hospital of Gaoxin, 768 Fudong Road, Weifang 261205, China.

出版信息

J Healthc Eng. 2021 Nov 15;2021:2750936. doi: 10.1155/2021/2750936. eCollection 2021.

DOI:10.1155/2021/2750936
PMID:34820074
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8608511/
Abstract

In response to the ever-increasing demand of lower limb rehabilitation, this paper presents a novel robot-assisted gait trainer (RGT) to assist the elderly and the pediatric patients with neurological impairments in the lower limb rehabilitation training (LLRT). The RGT provides three active degrees of freedom (DoF) to both legs that are used to implement the gait cycle in such a way that the natural gait is not significantly affected. The robot consists of (i) the partial body weight support (PBWS) system to assist patients in sit-to-stand transfer via the precision linear rail system and (ii) the bipedal end-effector (BE) to control the motions of lower limbs via two mechanical arms. The robot stands out for multiple modes of training and optimized functional design to improve the quality of life for those patients. To analyze the performance of the RGT, the kinematic and static models are established in this paper. After that, the reachable workspace and motion trajectory are analyzed to cover the motion requirements and implement natural gait cycle. The preliminary results demonstrate the usability of the robot.

摘要

为了满足日益增长的下肢康复需求，本文提出了一种新型的机器人辅助步态训练器（RGT），以帮助下肢神经损伤的老年人和儿科患者进行下肢康复训练（LLRT）。RGT 为双腿提供三个主动自由度（DoF），用于实现步态周期，从而不会显著影响自然步态。机器人由（i）部分体重支撑（PBWS）系统和（ii）双足末端执行器（BE）组成，通过精密线性导轨系统辅助患者从坐姿到站立的转移，并通过两个机械臂控制下肢运动。机器人具有多种训练模式和优化的功能设计，可提高患者的生活质量。为了分析 RGT 的性能，本文建立了运动学和静态模型。之后，分析了可达工作空间和运动轨迹，以满足运动需求并实现自然步态周期。初步结果表明了机器人的可用性。

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