一种下肢外骨骼助行康复机器人及康复评价方法

摘要

针对下肢瘫痪患者的康复训练需求,设计了一种下肢外骨骼助行康复机器人.描述了外骨骼机器人的机械结构.设计了基于关节角位移的闭环控制系统,将VICON运动捕捉系统采集的正常人体下肢运动关节角作为参考输入信息,控制受试者穿戴外骨骼进行行走、上下台阶动作.完成系统调试后,采用VICON运动捕捉系统捕捉受试者在该控制系统下的步态,并与正常人体步态作对比,验证了控制算法的正确性.定义了下肢康复评价标准RMP,使用设计的外骨骼康复机器人进行患者跟踪康复训练实验,验证了助行康复机器人的有效性.%To meet the demands of rehabilitation training for patients with lower limb paralysis,a lower extremity exoskeleton rehabilitation robot is designed.The composition of the designed robot is described and the kinematics analysis of the robot mechanism is conducted.Based on the joint angular displacements,a closed loop control system was designed.As a reference input information,while the subject is walking or walking up and down the stairs with the exoskeleton,the movement of the lower-extremity's joint ankles during normal human walking is acquired by the VICON motion capture system.With the commissioned system,the gait data of normal human is compared with that captured by using the VICON motion capture system and the control algorithm is verified.In addition,the range of motion with perception (RMP) is defined.Training experiments are conducted on the patient with the rehabilitation exoskeleton,which proves the effectiveness of the designed rehabilitation robot.