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创新康复机器人的理论与性能分析研究。

Research on Theory and a Performance Analysis of an Innovative Rehabilitation Robot.

机构信息

Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China.

出版信息

Sensors (Basel). 2022 May 22;22(10):3929. doi: 10.3390/s22103929.

DOI:10.3390/s22103929
PMID:35632338
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9147418/
Abstract

This paper presents an innovative application of a 6-DOF robot in the field of rehabilitation training. This robot operates in a parallel fashion for lower limb movement, which adopts a new structure that can help patients to carry out a variety of rehabilitation exercises. Traditional parallel robots, such as the Stewart robot, have the characteristics of strong bearing capacity. However, it is difficult to achieve high-speed, high-acceleration and long journey movement. This paper presents a new robot configuration that can address these problems. This paper also conducts an all-around characteristic analysis of this new parallel robot, including kinematics, dynamics and structure, to better study the robot and improve its performance. This paper optimizes an algorithm to make it more suitable for rehabilitation training. Finally, the performance improvements brought by optimization are verified by simulations.

摘要

本文提出了一种将六自由度机器人应用于康复训练领域的创新方法。该机器人采用新的结构，用于下肢运动的平行运动方式，可帮助患者进行各种康复运动。传统的并联机器人，如 Stewart 机器人，具有承载能力强的特点。但是，实现高速、高加速度和长行程运动较为困难。本文提出了一种新的机器人配置，可以解决这些问题。本文还对这种新型并联机器人进行了全面的特性分析，包括运动学、动力学和结构，以更好地研究机器人并提高其性能。本文优化了一种算法，使其更适合康复训练。最后，通过模拟验证了优化带来的性能提升。

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本文引用的文献

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Multisens Res. 2020 Jun 25;34(3):261-280. doi: 10.1163/22134808-bja10026.
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J Healthc Eng. 2018 Apr 1;2018:1927807. doi: 10.1155/2018/1927807. eCollection 2018.
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Robotic orthosis lokomat: a rehabilitation and research tool.机器人矫形器 lokomat：一种康复和研究工具。
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可穿戴传感器和机器学习算法在康复训练中的应用：系统评价。
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