人体卧式下肢屈伸运动的动力学建模与仿真
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摘要
为了帮助脑卒中后偏瘫、单侧肢体运动障碍的患者进行下肢康复训练,基于人机合作技术提出了一种下肢康复训练机器人。该机器人根据患者的运动意愿,通过与人合作完成下肢的康复训练。引入广义速率的概念,基于凯恩方法对人体卧式下肢屈伸运动进行了动力学建模与仿真,求解了下肢屈伸运动的约束方程和凯恩方程,得到了下肢运动曲线和驱动力矩曲线。该研究为下肢康复训练器械的设计与研制提供了参考和理论依据。
In order to help patients with lower limbs dyskinesia caused by stroke,hemiplegia and spinal injury to complete lower limbs rehabilitation training,based on human machine cooperation technology a kind of lower limbs rehabilitation robot was put forward.According to patient's motion wishes the robot cooperates with the patient to carry out rehabilitation training.Introducing general velocity established dynamics equations of lower limbs for flexion and extension motion based on Kane's method.By Matlab/Simulink solved motion constraint equations and Kane's equations,and acquired kinematics and drive torque curves of lower limbs for flexion and extension motion.The study provides references and theory basis for design and developing horizontal lower limbs rehabilitation training instruments.
In order to help patients with lower limbs dyskinesia caused by stroke,hemiplegia and spinal injury to complete lower limbs rehabilitation training,based on human machine cooperation technology a kind of lower limbs rehabilitation robot was put forward.According to patient's motion wishes the robot cooperates with the patient to carry out rehabilitation training.Introducing general velocity established dynamics equations of lower limbs for flexion and extension motion based on Kane's method.By Matlab/Simulink solved motion constraint equations and Kane's equations,and acquired kinematics and drive torque curves of lower limbs for flexion and extension motion.The study provides references and theory basis for design and developing horizontal lower limbs rehabilitation training instruments.
引文
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[6]张立勋,孙洪颖,钱振美.卧式下肢康复机器人运动学分析及仿真[J].系统仿真学报,2010,22(8):2001-2005.
[7]张立勋,李长胜,刘富强.多模式下肢康复训练机器人的设计与实验分析[J].中国康复医学杂志,2011,26(5):464-466.
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[2]万新炉,高春华,叶正茂,等.MOTOmed训练系统对脑梗死偏瘫患者下肢运动功能的影响[J].中华医学与物理康复杂志,2009,31(7):503-504.
[3]BAUBY C E,KUO A D.Active control of lateral balance in human walking[J].Journal of Biomechanics.2000,33(11):1433-1440.
[4]SIMON A M,BRENT GILLESPIE R,FERRIS D P.Symmetry-based resistance as a novel means of lower limb rehabilitation[J].Journal of Biomechanics.2007,40(6):1286-1292.
[5]钱振美.卧式下肢康复机器人的研究[D].哈尔滨:哈尔滨工程大学,2006.
[6]张立勋,孙洪颖,钱振美.卧式下肢康复机器人运动学分析及仿真[J].系统仿真学报,2010,22(8):2001-2005.
[7]张立勋,李长胜,刘富强.多模式下肢康复训练机器人的设计与实验分析[J].中国康复医学杂志,2011,26(5):464-466.
[8]刘延柱.高等动力学[M].北京:高等教育出版社,2001.