基于人机适应的下肢康复训练器人机建模与受力分析.docx

基于人机适应的下肢康复训练器人机建模与受力分析 袁林1 ，甄红卫2 ，史小华1 ，侯慧娜1 ，王洪波1 ( 1 燕山大学 机械工程学院，秦皇岛 066004; 2 北京星航机电设备厂，北京 100074) 摘要: 从下肢康复患者的需要和节约成本出发，设计了一种人机融合性好、机械结构简单，具备功能 性电刺激接口的脚踏车式下肢康复训练器。该训练系统能针对不同损伤程度的下肢残障者提供被 动、主动、抗阻 3 种康复训练模式。根据人机适应( human adaptive mechatronics，HAM) 概念中在约 束环境下对人机建模的思路进行动力学研究，在结合人体下肢运动机理的基础上提出了一种平面 闭环铰链五连杆刚体模型，介绍了康复设备的结构，对主动踏车运转过程中踝关节的运动进行了分 析和优化，基于平面闭环铰链五连杆分析了抗阻训练时人机系统的静力学，建立了数学模型。根据 人体下肢模型建立了虚拟样机，并进行了动力学仿真，验证了前述分析的正确性。 关键词: HAM; 下肢康复训练器; 人机模型; 静力学; 动力学仿真 中图分类号: TP242. 3 文献标识码: A 文章编号: 1003-8728( 2014) 02-0243-06 HAM-based Modeling and Mechanics Analysis of the Man-machine for Lower Limb Ｒehabilitation Training Apparatus Yuan Lin1 ，Zhen Hongwei2 ，Shi Xiaohua1 ，Hou Huina1 Wang Hongbo1 ( 1 School of Mechanical Engineering，Yanshan University，Qinhuangdao 066004 2 Beijing Xinghang Electromechanical Equipment Factory，Beijing 100074) Abstract: In order to meet the requirement of patient with lower limb rehabilitation and reduce the cost，a lower limb rehabilitation training apparatus which has good man-machine fusion and simple mechanical structure is pres- ented． The apparatus can provide passive training，active training，resistance training and functional electrical stimulation training，and then that can meet the requirement of patients with different degrees of damage and disa- bilities． A rigid link model for lower limb is proposed on the basis of the analysis for lower limb movement． Mean- while，the human lower limbs and the rehabilitation training apparatus are considered as a whole and a man-ma- chine model with plane closed-loop hinges is abstracted based on the HAM( Human Adaptive Mechatronics) theory． The statics of the man-machine model is analyzed and the statics mathematical models are established when the pa- tient taking resistance training． The virtual prototype of the man-machine model is built and the statics simulation is performed，the results verified the correctness of the pr