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上肢康复训练是缓解上肢运动功能障碍的必要手段，针对康复机器人上肢康复训练过程的运动学仿真及人机耦合力矩特性开展研究。首先，介绍了上肢康复协作机器人系统构成和常见康复训练模式。其次，基于D-H参数法建立上肢康复协作机器人运动学模型，采用MATLAB软件的AppDesigner开发上肢康复训练运动学分析软件，对常见的上肢内收外展、前屈后伸和伸展屈曲3种上肢康复训练模式进行运动学仿真分析，求解得到康复训练模式下机器人关节轨迹。最后，基于拉格朗日方法建立上肢康复协作机器人的耦合动力学模型，针对3种上肢康复训练模式分析了康复机器人关节力矩特性，在此基础上，基于ADMAS软件搭建上肢康复机器人虚拟样机模型并进行仿真验证。研究揭示了康复训练过程人机耦合作用和人体上肢对康复机器人关节力矩特性的影响，对上肢康复机器人的人机交互控制具有一定的参考意义。
Abstract：Upper limb rehabilitation training plays a critical role in alleviating motor dysfunction. This study focuses on the kinematic simulation of upper limb rehabilitation training and the characteristics of human-robot coupling torque in rehabilitation robots. First,the system structure and common rehabilitation training modes of upper limb rehabilitation robots are introduced. Next,a kinematic model of the collaborative rehabilitation robot is developed using the Denavit-Hartenberg(D-H) parameter method,and kinematic analysis software for upper limb rehabilitation training is created with MATLAB's AppDesigner. This software performs kinematic simulations for three common training modes:adduction and abduction,forward flexion and backward extension,and extension and flexion,solving for the robot joint trajectories in each mode. Finally,a coupling dynamics model is established based on the Lagrangian method to analyze the joint torque characteristics of the rehabilitation robot in these training modes. A virtual prototype model of the rehabilitation robot is built using ADMAS software,and the results are simulated and verified. The study reveals the human-machine coupling effect and its impact on the joint torque characteristics of the rehabilitation robot during training,offering valuable insights for the design of human-robot interaction control in upper limb rehabilitation robots.
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基本信息:
中图分类号:TP242;TH789
引用信息:
[1]包琪,徐东,刘玉飞,等.上肢康复协作机器人运动仿真及力矩特性分析[J].淮阴工学院学报,2025,34(02):19-29+39.
基金信息:
安徽省高校优秀青年科研项目“弹性薄壁构件机器人磨抛系统柔顺交互控制机理研究”（2023AH030018）; 嘉兴市科技计划项目“基于双协作机器人的脑卒中偏瘫患者上肢康复训练系统的关键技术研究与应用”（2022AZ10001）
2024-07-20
2024
2024-10-16
2024-10-15
2024
1
2025-04-15
2025-04-15