下肢康复机器人机构的人-机相容性构型综合与人-机运动协同性优化设计研究

This project intends to study, from the view of full human-machine closed kinematic chain, the methods of type synthesis and parameter optimization for lower-limb rehabilitation robot mechanism to improve the human-machine compatibility and motion synchronicity. Based on the biological bone model of human lower limb, the angular motion informations of human lower limb joints during up-stand walking as well as the designing techniques of joints in lower artificial limb, the rigid-body kinematics model of human lower limb is established. By means of the kinematically just constraint analysis of human-machine closed kinematic chain, the synthesis approach for seeking out the mechanism types and the connecting modes those are compatible to human lower limb is investigated. All of the feasible mechanism types and connecting modes will be put forward, and the human-machine compatibility design of lower limb robot mechanism is achieved through the optimal selection and combination of the obtained mechanism types and connecting modes. The kinematics of human-machine closed kinematic chain, the effects of parameters of robot mechanism, connecting modes and connecting positions on the deviations of motion configurations between human lower limb and robot mechanism will be analyzed, the index of human-machine motion synchronicity is defined, the optimization method to increase the motion synchronicity between robot mechanism and human lower limb is researched, and the lower-limb rehabilitation robot mechanism having high motion synchronicity with human lower limb will be design through the parameter optimization of robot mechanism, connecting modes and connecting positions. An experiment system is developed, the experimental studies of wearing comfort and motion synchronicity will be exercised in order to test the validity of the presented methods of compatibility design and synchronicity optimization. The significance of this project is in that the methods, through the type synthesis and parameter optimization, to improve the human-machine compatibility and motion synchronicity of lower-limb rehabilitation robot mechanism is proposed, the human-machine compatibility mechanism type and motion synchronicity design parameters of lower-limb rehabilitation robot mechanism are obtained. As a result, the comfort and effectiveness of lower-limb rehabilitation training can be improved.

项目拟从人-机闭链整体角度研究下肢康复机器人机构的人-机相容性构型综合与运动协同性优化设计方法。基于人体下肢的生物骨骼模型、下肢关节运动信息和下假肢关节设计技术，研究人体下肢的刚体运动学模型。依据人-机闭链的恰运动约束分析，研究人-机相容性机构构型及联结模式的综合方法，通过构型和模式的综合与优选实现人-机之间的相容性设计。建立人-闭链的运动学模型，分析机器人机构参数、联接模式与联接位置参数对人-机运动位形偏差的影响，构造人-机运动协同性分析指标，研究运动协同性优化设计的模型与算法，通过参数设计实现人-机运动协同性的优化。研制一套实验系统并进行穿戴舒适性与运动协同性实验研究，以检验前述设计与优化方法的实用性。项目的意义是提出下肢康复机器人机构的人-机相容性构型综合方法与人-机运动协同性优化设计方法，设计出人-机相容且运动协同性优良的下肢康复机器人机构以提高下肢康复训练的舒适性和有效性。

项目从人-机闭链整体角度研究下肢康复机器人机构的人-机相容性构型综合与人-机运动协同性优化问题。完成了人体下肢刚体运动学建模，人-机相容型机构构型综合与遴选，人-机运动协同性分析、评估与优化，机器人机构样机与性能实验系统研制，以及穿戴舒适性与运动协同性实验检验研究等工作。建立了由人体下肢体征参数、关节模型和关节运动信息共同表征的下肢刚体运动学模型；提出了基于人-机闭链恰约束和多环机构自由度理论的机器人机构构型综合方法以及具有半拟人特性和考虑结构简单性与穿戴舒适性的机构构型遴选方法；提出了基于拆副分解和消元降维处理的人-机闭链正、逆位置解析方法，基于人-机对应肢体段相对位姿分析的协同性指标定义、算法和运动协同性分析与评估方法，以及基于穿戴偏差假设和协同性指标估计的下肢康复机器人机构优化方法。在此基础上，完成了下肢康复机器人机构的构型综合与遴选，运动协同性分析、评估与机构优化，机器人机构样机和性能实验系统的研制，以及穿戴舒适性与运动协同性实验研究，检验了相关分析、模型和方法的有效性以及机器人机构样机设计的合理性。本项目提出的人-机相容型构型综合方法和人-机运动协同性分析、评估与优化方法，有助于改善穿戴型下肢康复机器人的设计性能和提高下肢康复训练的舒适性和安全性。

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