上肢康复外骨骼机构的人机工效学设计方法与性能实验研究

For the goals to achieve the human-machine kingmatic compatibility, and to improve the wearing comfort and motion synchronicity of the upper-limb rehabilitation exoskeletons, the ergonomic design method of the rehabilitation exoskeleton mechanisms is studied in this project. The major subjects studied in the project including: The kinematic model of human upper limb, in which the instantaneous variability of the revolute center/axis of human shoulder/elbow joints is taken into account; The type synthesis of the exoskeleton mechanisms being kinematically compatible with human upper limb, in which the load characteristic of the upper limb and the transmission efficiency of human-machine joint spaces are concurrently considered; The analysis and evaluation method of the human-machine motion synchronicity and the transmission efficiency of joint spaces, which are respectively based on the position solution analysss of human-machie closed chain and the mapping analysis between human and exoskeleton joint spaces; The analysis and evaluation method of the wearing comfort of exoskeleton mechanisms, which is based on the dynamic modeling of human-machine closed chain and the human-machine restriction analysis. On the basis of above works, a systemic ergonomic design method of the exoskeleton mechanisms is supposed to be proposed. Moreover, in order to verify the validity of the presented design method, an experiment system will be developed, and with which the performance experimental studies of the exoskeleton mechanism designed by the proposed design method are carried out. The significance of this project is in that a systemic ergonomic design method of the rehabilitation exoskeleton mechanisms is proposed, and the exoskeleton mechanism which be able to improve the kinematic compatibility, to reduce the human-machine restriction and motion offset is acquired. As the result, the motion synchronicity, wearing comfort and safety of human upper-limb rehabilitation training can be improved.

项目以穿戴型上肢康复外骨骼机构为研究对象，以实现人机运动相容、降低人机约束强度和人机运动偏离为宗旨，研究可改善康复训练舒适性、运动与力传递特性和运动协同性的上肢康复外骨骼机构的人机工效学设计方法，并结合康复外骨骼机构的设计及其性能实验研究检验设计方法的有效性。主要内容包括：考虑肩/肘关节转心/转轴瞬变属性影响的上肢运动学模型研究，兼顾肢体负载特性与传递效益的人机相容性构型综合研究，基于人机闭链位置解析的运动协同性分析与评估方法研究，基于关节空间映射建模的传递效益分析与评估方法研究，基于人机闭链动力学建模和人机约束力/矩分析的舒适性分析与评估方法研究，以及上肢康复外骨骼机构性能实验系统的研制与性能实验研究。项目目标是提出较为系统的上肢康复外骨骼机构的人机工效学方法，设计出可有效改善人机运动相容性和传递特性、降低人机运动偏离和约束强度的康复外骨骼机构，以提高康复训练的舒适性、协同性与安全性。

在国家自然科学基金面上项目资助下，项目组以实现人-机运动学相容、降低人-机约束强度及人-机运动偏离，进而改善上肢康复外骨骼的物理人-机交互性能为研究目标，针对可有效改善上肢康复外骨骼的人-机相容性与穿戴舒适性、提高外骨骼的运动与力传递效益和人-机运动协同性的人机工效学设计方法展开了深入研究，研制了穿戴式上肢康复外骨骼物理样机，开展了上肢康复外骨骼样机的物理人-机交互性能测试与脑卒中患者试验应用。本项目的主要贡献包括：建立了考虑肩/肘关节转心/转轴瞬变属性和运动耦合影响的人体上肢运动学模型；提出了人-机相容性上肢康复外骨骼的构型综合方法及人-机空间多环闭链的位置解析方法；建立了人-机关节空间运动/力映射模型和人-机多环闭链的动力学模型；结合人-机闭链的运动学与动力学分析，定义了上肢康复外骨骼的人-机相容性、运动协同性、穿戴舒适性和人-机关节空间传递效益指标；在此基础上，提出了基于度量指标的外骨骼物理人-机交互性能的评估与设计方法。上肢康复外骨骼样机的人-机交互性能性能测试结果和脑卒中患者的试验应用效果，验证了本项目提出的上肢康复外骨骼人机工效学设计方法的合理性与有效性。

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