多功能驱动踝足康复矫形器设计、步态分析与控制方法研究

The number of hemiplegic patients are increasing worldwide. These patients normally have the secondary complications such as drop-foot and foot-slap after heel contact. Therefore, it is necessary and impactful to develop medical devices for ankle-foot rehabilitation to help these patients regain the ability to walk. Research on the system stiffness adjustment and energy efficiency, gait analysis, and control of the ankle-foot orthosis for rehabilitation is conducted in this project. Firstly, based on the biomechanical analysis of human body, a variable stiffness magneto-rheological elastic multifunctional actuator is developed to adjust the system stiffness in real-time, filter out the collisions from the ground, and improve the system energy efficiency and safety. Then, based on the proposed gait modeling, analysis and evaluation methods, the adaptive control strategy that considers the function specific assistance, adaptive assistance level, and adaptivity of timing and space is further proposed. In addition, the embedded control system and user-friendly human-machine interface including the multi-sensor system and intelligent terminal application are developed. Finally, the prototype of the ankle-foot orthosis is developed, and experimental studies are performed to validate the effectiveness of the system design, gait analysis, and adaptive control strategy of the ankle-foot orthosis. The results of this project can contribute to the research of the actuators, gait analysis, and control of the rehabilitation robots by providing some theoretical basis and key technologies.

全世界偏瘫患者正逐年增加，患者通常患有足下垂、足跟着地时脚掌拍击地面等并发症，因此亟需用于踝足康复训练的医疗装置以帮助患者逐渐恢复正常行走能力。本项目以踝足康复矫形器为研究对象，深入开展系统刚度调节和能量效率、步态分析和控制策略研究。根据人体生物力学分析，研究可变刚度磁流变弹性多功能驱动器，实现系统刚度可实时调节、缓冲地面冲击以及提高系统能量效率和安全性；探索矫形器步态建模、分析与评估算法，研究矫形器控制策略，实现同时考虑特定功能辅助、辅助功能大小自适应、步态模式时间/空间自适应控制；设计友好的人机交互，构建多传感器系统和嵌入式控制系统，开发智能终端应用程序，搭建矫形器物理样机，开展实验研究验证矫形器系统设计、步态分析与自适应控制策略的可行性和有效性。本项目对踝足康复矫形器驱动、步态分析及控制的研究具有重要意义，可为康复医疗机器人驱动器、步态分析和控制策略等研究提供理论基础和关键技术。

中风后偏瘫患者通常患有足下垂、足跟着地时脚掌拍击地面等并发症，严重影响患者步行功能的恢复。本项目研究的踝足矫康复形器适用于偏瘫患者，能够为穿戴者踝关节提供背屈和跖屈方向上的辅助力/力矩，帮助其进行运动康复。基于人体踝关节结构与运动机理，设计了踝足康复矫形器虚拟样机，研制了可变刚度磁流变弹性多功能驱动器。建立了踝足康复矫形器步态模型，提出了步态分析与评估算法；基于理疗师知识和经验以及踝足康复矫形器运动康复功能建立了模糊专家系统，在偏瘫患者的病理性步态和需要的康复策略之间建立了联系；研究了混合阻抗控制方法对踝足康复矫形器进行运动控制，实现了同时考虑特定功能辅助、辅助功能大小自适应、步态模式时间/空间自适应控制。结合人体工程学，设计了友好的踝足康复矫形器人机交互，搭建了踝足康复矫形器物理样机，招募了志愿者，开展了实验研究，验证了踝足康复矫形器系统设计及其控制方法的正确性和有效性。基于本项目的研究工作，共发表高水平学术论文5篇，申请国家发明专利7项，授权4项。本项目的研究成果丰富了康复医疗机器人的设计理论和控制方法。

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