一种新的康复与代步外骨骼机器人研究

黄高; 张伟民; MarcoCeccarelli; 余张国; 陈学超; 孟非; 黄强

doi:10.16383/j.aas.2016.c160180

一种新的康复与代步外骨骼机器人研究

doi: 10.16383/j.aas.2016.c160180

黄高^1,4,5,,
张伟民^1,2,4,5, ,,
MarcoCeccarelli^2,6,,
余张国^1,2,4,5,,
陈学超^1,2,4,5,,
孟非^1,2,4,5,,
黄强^1,2,3,4,5,

1.
仿生机器人与系统教育部重点实验室北京 100081 中国
2.
智能机器人与系统高精尖创新中心北京 100081 中国
3.
复杂系统智能控制与决策国家重点实验室北京 100081 中国
4.
北京理工大学机电学院智能机器人研究所北京 100081 中国
5.
仿生机器人与系统教育部国际合作联合实验室北京 100081 中国
6.
意大利卡西诺大学机器人与机电系统实验室卡西诺 03043 意大利

基金项目:

国家自然科学基金 61321002

国际科技支撑计划 2015BAK35B01

国家111引智计划 B08043

国际科技支撑计划 2015BAF13B01

北京市科技计划项目 Z161100003116081

国家自然科学基金 61320106012

国家自然科学基金 61273348

国家高技术研究发展计划（863计划） 2014AA041602

国家高技术研究发展计划（863计划） 2015AA043202

北京市科技计划项目 v

国家自然科学基金 61533004

国家高技术研究发展计划（863计划） 2015AA042305

国家自然科学基金 61673069

国家自然科学基金 61375103

详细信息

作者简介:
黄高北京理工大学机电学院智能机器人研究所博士研究生.2010年获得武汉轻工大学机械学院学士学位.主要研究方向为康复机器人系统设计技术.E-mail:huanggao@bit.edu.cn

MarcoCeccarelli：Marco Ceccarelli 意大利卡西诺大学教授.1982年获得罗马大学机械工程专业学士学位, 1987年获得罗马大学博士学位.主要研究方向机器人机构设计与机械原理及机械工程历史.E-mail:ceccarelli@unicas.it

余张国北京理工大学机电学院智能机器人研究所副教授.1997年和2005年获得西南科技大学学士和硕士学位, 2009年获得北京理工大学博士学位.主要研究方向为仿生机器人.E-mail:yuzg@bit.edu.cn

陈学超北京理工大学机电学院讲师.2007年和2013年分别获得北京理工大学机械电子工程专业学士学位和博士学位.主要研究方向为仿生机器人和机器人动力学.E-mail:chenxuechao@bit.edu.cn

孟非北京理工大学机电学院博士后.2008年和2010年分别获得北京理工大学机械电子工程专业学士和硕士学位, 2016年获得北京理工大学机械工程专业博士学位.主要研究方向为电机驱动控制, 仿人机器人运动规划.E-mail:mfly0208@bit.edu.cn

黄强北京理工大学机电学院智能机器人研究所教授.1989年获得哈尔滨工业大学硕士学位, 1996年获日本早稻田大学博士学位.主要研究方向为仿人与仿生机器人, 康复机器人.E-mail:qhuang@bit.edu.cn

通讯作者:
张伟民北京理工大学机电学院智能机器人研究所副教授.1999年获得北京理工大学学士学位, 2002年和2005年分别获得北京理工大学机电学院硕士学位和博士学位.主要研究方向为仿生机器人.本文通信作者.E-mail:zhwm@bit.edu.cn

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出版历程
- 收稿日期: 2016-03-03
- 录用日期: 2016-10-14
- 刊出日期: 2016-12-01

Research of a New Rehabilitation and Assisting Robot

HUANG Gao^{1,4,5
,},
ZHANG Wei-Min^{1,2,4,5
, ,},
MARCO Ceccarelli^{2,6
,},
YU Zhang-Guo^{1,2,4,5
,},
CHEN Xue-Chao^{1,2,4,5
,},
MENG Fei^{1,2,4,5
,},
HUANG Qiang^{1,2,3,4,5
,}

1.
Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
2.
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
3.
Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081, China
4.
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
5.
International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
6.
Laboratory of Robotics and Mechatronics DICeM, University of Cassino and South Latium Via Di Biasio, Cassino (Fr)03043, Italy

Funds:

National Natural Science Foundation of China 61321002

Key Technologies Research and Development Program 2015BAK35B01

the National \111" Project B08043

Key Technologies Research and Development Program 2015BAF13B01

Beijing Municipal Science and Technology Project Z161100003116081

National Natural Science Foundation of China 61320106012

National Natural Science Foundation of China 61273348

National High Technology Research and Development Program of China (863 Program) 2014AA041602

National High Technology Research and Development Program of China (863 Program) 2015AA043202

Beijing Municipal Science and Technology Project v

National Natural Science Foundation of China 61533004

National High Technology Research and Development Program of China (863 Program) 2015AA042305

National Natural Science Foundation of China 61673069

National Natural Science Foundation of China 61375103

More Information

Author Bio:
Ph. D. candidate at the Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, China. He received his bachelor degree from Wuhan Polytechnic University in 2010. His main research interest is rehabilitation robot system design technology

Professor at University of Cassino and South Latium Via Di Biasio, Italy. He received mechanical engineering degree from the University La Sapienza of Rome, Italy, in 1982. He received his Ph. D. from the University La Sapienza of Rome, Italy in 1987. His research interest covers mechanism design, mechanics and design of robots, and history of mechanical engineering

Associate professor at the Intelligent Robotics Institute, Beijing Institute of Technology, China. He received his bachelor and master degrees from Southwest University of Science and Technology, China in 1997 and 2005, respectively. He received his Ph. D. degree from Beijing Institute of Technology, China in 2009. His research interest covers bio-robots

Lecturer at the School of Mechatronics Engineering, Beijing Institute of Technology, China. He received his bachelor and Ph. D. degrees in mechatronics engineering from the Beijing Institute of Technology, China in 2007 and 2013, respectively. His research interest covers humanoid robotics and robot dynamics

Postdoctor at the Intelligent Robotics Institute, Beijing Institute of Technology, China. He received his bachelor, master, and Ph. D. degrees from Beijing Institute of Technology, China in 2008, 2010 and 2016, respectively. His research interest covers motor control and planning for biped robots

Professor at the Intelligent Robotics Institute, Beijing Institute of Technology, China. He received his master degree from Harbin Institute of Technology, China in 1989 and Ph. D. degree from Waseda University in 1996. His research interest covers humanoid robot, bio-robots, and rehabilitation robot

Corresponding author: ZHANG Wei-Min Associate professor at the Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, China. He received his bachelor, master and Ph. D. degrees from the School of Mechatronical Engineering, Beijing Institute of Technology, China in 1999, 2002 and 2005, respectively. His research interest covers bio-robots. Corresponding author of this paper

摘要

摘要: 针对老年人及下肢障碍者康复训练与代步问题，本文提出一种新的康复与代步外骨骼机器人.本文首先详细介绍了机器人各部分组成及机构设计方案，通过下肢外骨骼与轮椅的有机结合，有效保持或恢复老年人、脑卒中患者下肢运动能力的同时，为患者提供一种方便的代步工具；运用脚蹬车运动制订康复训练策略，可保持下肢康复训练轨迹固定，保证患者安全；提出主从式操作方法及多模态康复训练控制流程提高使用者参与感.最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性.
- 康复机器人 /
- 外骨骼 /
- 机构设计 /
- 仿真 /
- 实验
Abstract: Towards the rehabilitation and training problems of older persons and lower limb disabilities, the paper proposes a new robot with lower limb exoskeleton for rehabilitation and walking assistance. The components and mechanical design of the robot are introduced in detail. Through the function combination of lower limb exoskeleton and wheelchair, the robot can help the users to maintain the lower limb movement effectively and provide them with a convenient tools for movement. The pedal-actuated motion training strategy can ensure the safety of users. The master-slave operational mode is put forward with multimodal rehabilitation training process control. Correctness and feasibility of the rehabilitation system are validated by computer simulation and experiment.
- Rehabilitation robot /
- exoskeleton /
- mechanical design /
- master-slave operational flow /
- simulation
注释:

1) 本文责任编委王启宁

HTML全文

图 1 脚蹬车运动一个周期中三阶段分布

Fig. 1 Three phases of the crank cycle during the cycling action

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图 2 外骨骼康复机器人运动简图及设计参数

Fig. 2 A kinematic sketch of proposed leg-exoskeleton assisted wheelchair system and its main design parameters

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图 3 康复机器人自由度分布

Fig. 3 The distribution of the robot$'$s degrees of freedom (DOFs)

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图 4 机器人机构设计方案

Fig. 4 The mechanical design of the robot

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图 5 外骨骼长度调节连杆

Fig. 5 The length adjustment of the exoskeleton rod

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图 6 同步带轮关节机构设计

Fig. 6 The mechanical design of synchronous pulley

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图 7 脚踏板关节机构设计

Fig. 7 The mechanical design of pedal

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图 8 康复轮椅主从式操作方法示意图

Fig. 8 A scheme for the slave-master actuation for the robot

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图 9 主从式控制器组成

Fig. 9 The components of slave-master controller

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图 10 机器人康复训练控制流程

Fig. 10 The robot$'$s control flow for the rehabilitation training

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图 11 ADAMS环境中机器人与人的模型及各旋转关节示意

Fig. 11 An ADAMS model of the design in Fig. 4 with indication of parameters

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图 12 左右腿髋关节、膝关节、踝关节角度曲线(实线为左腿, 虚线为右腿)

Fig. 12 Angle curves of left and right legs at hip, knee, ankle (continuous line is for left foot and dot line is for right foot)

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图 13 左右腿髋关节、膝关节、踝关节角速度曲线(实线为左腿, 虚线为右腿)

Fig. 13 Angular velocities of left and right legs at hip, knee, ankle (continuous line is for left foot and dot line is for right foot)

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图 14 左右腿髋关节、膝关节、踝关节接触力曲线(实线为左腿, 虚线为右腿)

Fig. 14 Joint reaction forces at left and right legs at hip, knee, ankle (continuous line is for left foot and dot line is for right foot)

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图 15 康复机器人原理样机

Fig. 15 A prototype of the rehabilitation robot

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图 16 实验过程中一周期内康复运动序列图及实验场景照片

Fig. 16 Experimental scene photos with one cycle rehabilitation movement sequence diagram in the experimental process

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图 17 外骨骼运动特征分析实验

Fig. 17 The experiment for characteristics analysis of the exoskeleton motion

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图 18 主从式运动速度曲线

Fig. 18 The plots of master-slave motion

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表 1 外骨骼机器人机构设计参数

Table 1 Speciflcations of the new leg-exoskeleton assisted wheelchair

设计参数	数值
自由度	2
机器人重量(kg)	55
高度(mm)	800
长度(mm)	780
宽度(mm)	609
轮椅运行速度(m/s)	1~3
θ₂(°)	-15~15
θ₃(°)	-5~35
θ₄(°)	0~35
L₂ (mm)	380~430
L₃ (mm)	370~420

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