电动往复式步态矫形器机构优化设计-机械工程学报.PDF

第 51 卷第 21 期 机 械 工 程 学 报 Vol.51 No.21 2015 年 11 月 JOURNAL OF MECHANICAL ENGINEERING Nov. 2 0 1 5 DOI ：10.3901/JME.2015.21.033 * 电动往复式步态矫形器机构优化设计 陈殿生 宁 萌 阮子 张本光 喆 (北京航空航天大学机器人研究所 北京 100191) 摘要：针对原有往复式步态矫形器对患者体力消耗较大、步态差异大且失真严重、膝关节康复效果微弱等问题，对矫形器进 行改进设计，分别在矫形器的髋关节和膝关节处增加了驱动机构，设计出一种电动往复式步态矫形器(Electric reciprocating gait orthosis, ERGO)，可通过穿戴在患者下肢上，协助无行走能力的患者实现行走功能。由于人体下肢运动关节的复杂性， 电动往复式步态矫形器与人体下肢运动关节不可避免存在一定的差异，因此需要通过机构的优化使得人-机之间髋、膝关节 的运动规律及下肢末端轨迹更加接近，从而避免患者在使用过程中由于人-机运动偏差而造成不必要的伤害。在此基础上通 过仿真分析和试验验证，证明了电动式往复式步态矫形器的可行性和优化结果的有效性。 关键词：矫形器；下肢康复；驱动机构；结构设计；优化分析 中图分类号：TP242 Mechanism Design and Optimization for Electric Reciprocating Gait Orthoses CHEN Diansheng NING Meng RUAN Zizhe ZHANG Benguang (Robotics Institute, Beihang University, Beijing 100191) Abstract ：Aiming at solving the problems of great physical consumption of patients, serious distortion and big difference in gaits, and weak effect in knee rehabilitation in traditional reciprocating gait orthoses (RGO), improved design is developed in RGO. Driving mechanism is added to knee joints and hip joints on the electric reciprocating gait orthoses to develop an electric reciprocating gait orthoses (ERGO), which can be worn on the lower limb of patients and help those without walking ability to realize walking function. Because of the complexity in the human lower limb movement joints, differences between orthoses and human lower limb movement joint exist inevitably. Therefore, through the optimization in mecha