含被动关节上肢康复外骨骼机构训练性能与穿戴舒适度的数值化评价研究

The upper-limb rehabilitation exoskeleton mechanism is the most critical method for making up the insufficient of the manual rehabilitation and reducing the intensive workload of physicians. The rehabilitation performance and the wearable comfort are the core indicators of the rehabilitation exoskeleton. The human-machine kinematics incompatibility and misalignments deteriorate the rehabilitation performance and the wearable comfort significantly, and block the wide applications of the rehabilitation exoskeleton. Hence, this project will systematically study the kinematics and constraint forces/ torques in the human-machine system by the theoretical analysis, numerical analysis and experiments. The optimum configuration of the passive joints is synthesized and the compatible exoskeleton mechanism is designed by means of the self-aligned and auto-aligned methods. The kinematic model, dynamic model and analytical expressions of the positions are established. The performance test and measurement system for the compatible exoskeleton are constructed based on the optimum configuration and parameters. Furthermore, the transmission effects of the kinematics and constraint forces/ torques during the rehabilitation process are analyzed and calculated. The numerical analysis and assessment methods of the rehabilitation performance and the wearable comfort are proposed on the basis of the theoretical analysis , the numerical simulation and experimental results. The results of this project will supply the theoretical basis for design of the exoskeleton mechanism and formulating the rehabilitation plan scientifically.

上肢康复外骨骼机构是弥补人工康复训练不足、降低医师工作强度的关键设备，训练性能和穿戴舒适度是衡量康复外骨骼的核心指标，人机运动不相容及运动偏离导致训练性能和穿戴舒适度下降，成为上肢康复外骨骼广泛应用的主要障碍。本项目采用理论分析、数值仿真和实验研究方法，系统地研究人机闭链之间的运动和约束力/矩的传递规律，揭示导致人机运动不相容的机理。拟基于关节轴线(转心)自对齐和免对齐方法，综合出与人体上肢运动学相容的被动关节构型，构建兼顾型康复外骨骼机构。建立人机闭链的运动学、位置解析及耦合动力学模型，进行外骨骼机构的构型优选、参数优化，搭建兼顾型外骨骼机构的性能实验和测量系统。研究人体上肢在训练过程中运动、约束力/矩传递效益，结合理论分析和数值仿真，开展实验研究，提出针对训练性能和穿戴舒适度的数值化分析与评估方法。本项目成果为外骨骼机构设计、制定科学的康复训练计划提供依据。

上肢康复外骨骼机构是弥补人工康复训练不足、降低医师工作强度的关键设备，人机运动不相容及运动偏离导致训练性能和穿戴舒适度下降，成为上肢康复外骨骼广泛应用的主要障碍。本项目综合出与人体上肢运动学相容的被动关节构型，建立人机闭链的运动学模型并进行位置解析，分析上肢在不同抬升面下的被动副运动轨迹，进行外骨骼机构的构型优选、参数优化和工作空间分析。设计并研制了两代兼顾型康复外骨骼，在重量、工作空间和人机兼容性进行优化，提高该康复外骨骼的样机性能。通过增加位移传感器和扭矩传感器，搭建外骨骼机构的性能实验和测量系统。制定实验研究方案，在不同实验条件和被动关节构型下，验证了被动关节能够较好地跟随并补偿盂肱关节的位置浮动，分析被动关节构型对盂肱关节的影响规律。在抬升实验中，被动关节的双向运动轨迹无法重合且形成封闭空间，由于人体软组织和连接环节的影响，被动关节表现出很强的迟滞效应。通过被动副的锁死和释放，验证了被动副关节可大幅降低人机连接环节约束力，外骨骼第二关节的扭矩下降可达64%，提高外骨骼的穿戴舒适度。