下肢康复训练机人的研究.pdf

下肢康复训练机器人的研究 摘 要 下肢康复机器人是近些年出现的一种新型机器人，它属于医疗器械范畴。 随着我国中风人口的不断增加，偏瘫人数也越来越多。临床证明，科学合理地 康复锻炼能够使患者复行走能力。所以，对康复器械的研究已经成为社会的热 点。 首先，本文设计了蹬腿运动的试验，通过对试验中下肢运动变化情况的分 析，确定了在坐姿下进行蹬腿运动时，下肢的运动轨迹、运动角度、运动幅度 及相关参数的变化情况，为下肢康复训练器的设计和仿真提供了依据 。 其次，本文根据康复医学理论，分析了在坐姿下进行康复训练的优势，并 基于人机工程学原理选择和改造了下肢康复训练机器人的承重载体，再结合机 构学知识，设计了下肢康复训练机构，并用三维软件建立装配模型 。 最后，本文在 ADAMS 环境下，对下肢康复训练系统进行建模及运动学仿 真，并将仿真结果与试验得出的相关参数进行对比，逐步优化脚杆的有效变化 范围，最后对此款康复机器人的使用方法进行说明 。 本文设计的下肢康复训练机器人具有工作状态可调节，训练模式多样的特 点，既能够满足患者在不同康复阶段进行训练的要求，又能够满足不同腿长患 者的使用需求，长期使用可以达到修复功能失缺组织的 目的。 关键词：下肢康复机器人；脚部运动轨迹；三维建模；ADAMS；仿真分析 Study on Lower Limbs Rehabilitative Robot ABSTRACT Lower limbs rehabilitative robot is a new type of robot that has been appeared in recent years, it belongs to the medical devices . With the increasing of the stroke in China, the number of hemiplegia people is also increasing. Clinical proved , the scientific and reasonable rehabilitation exercise can make people regain the ability to walk. So, The study of rehabilitation equipment has becoming the focus of the society. Firstly, this paper design ed a test of doing kick movement.Through analysing the lower limb movement during the test ，the lower limb trajectory, angle of the movement, range of the motion and range of the relevant parameters have been acquired in the sitting position . These providing the theoretical basis for design ing and simulating of the lower limb rehabilitation. Secondly, according to the theory of Rehabilitation Medicine, the advantages of training in sitting position has been analyzed in this paper. Based on the ergonomic principles , selecting and reforming bearing carrier the lower limb rehabilitation training rob ot.Then combining with the knowledge of mechanism , this paper designed the lower lim