面向人机协同的绳驱动变刚度关节下肢康复轮椅设计方法研究

The wheelchair, as a means of transportation, can provide many conveniences for the elderly and the disabled people. The rehabilitation training is implemented through adding a seat adjusting mechanism to the ordinary wheelchair, and carrying out various modes of training based on the rehabilitation needs of patients with lower limb dysfunction. Firstly, the configuration of a cable-driven lower limb rehabilitation wheelchair is produced on the basis of port-based ontology, which can achieve individual training and coordinate training with hip, knee and ankle joints by changing joint stiffness or degree of freedom of mechanism; Secondly, the wheelchair mechanism model is established to use for its inverse kinematics and dynamics analysis, and adopt topological principle of port-based ontology to obtain the wheelchair rehabilitation mechanism’s activity space with different topological metamorphic mechanism in the rehabilitation training, and further explain each joint force conditions of the lower limb; Thirdly, build the lower limb musculoskeletal model, collect movement information of the lower limb and rehabilitation mechanism by position sensor, acceleration sensor, force / torque sensor and sEMG sensors, etc. and use effective control algorithm to achieve rehabilitation training. Finally, complete the mechanical system design, control system design and prototype manufacture of the rehabilitation wheelchair, obtain the data of the lower limb through rehabilitation training, and the simulation result is compared with the experimental results for error analysis. The study has important social significance towards wheelchair product innovation for the further implementation of rehabilitation equipment into the ordinary family and community service for patients with lower limbs dysfunction.

轮椅作为一种代步工具为老年人及残疾人提供了诸多便利。本课题在轮椅上增加一座椅调节机构实现其康复训练，可为下肢有障碍的疾病患者提供多种模式康复训练。首先，根据通口本体理论设计出一种绳驱动的下肢康复轮椅，通过改变机构关节刚度及自由度可以实现单独训练或协调训练髋、膝和踝关节；其次，建立绳驱动康复轮椅机构模型，并对其进行逆运动学及动力学分析，采用通口拓扑原理分析轮椅康复机构的活动空间及拓扑变胞过程，进一步获取康复训练中下肢各关节的受力情况；再次，建立人体下肢肌肉骨骼模型，通过位置、加速度、力/力矩及肌电信号等采集人体下肢及康复机构的运动信息，利用有效控制算法实现康复训练。最后，完成康复轮椅的机械系统与控制系统设计及样机制作，通过康复训练实验获取人体下肢康复数据，并将仿真结果与实验结果比对进行误差分析。为进一步实现康复器械进入家庭及社区服务于下肢有障碍的疾病患者实现轮椅产品创新，具有重要的社会意义。

轮椅作为一种代步工具为老年人及残疾人提供了诸多便利。本课题在普通轮椅上增加一座椅调节机构，并在座椅的前下方悬挂一绳驱动下肢康复机构，可实现下肢有障碍的疾病患者协调髋、膝及踝关节的多模式康复训练功能。首先，利用通口本体知识描述人体下肢踝关节、膝关节及髋关节的功能本体，根据通口本体的特征构建其康复机构本体模型，并采用通口拓扑原理分析下肢康复机构的活动空间及在康复训练中拓扑变胞过程，进行下肢康复机构的运动学及动力学分析，获取下肢康复机构的刚度雅克比矩阵，建立人体下肢肌肉骨骼模型，针对三种训练模式实现踝关节、膝关节及髋关节的运动轨迹规划；其次，根据人体关节的变刚度调节机理，设计了一款具有“小载荷，低刚度；大载荷，高刚度”为特征的变刚度柔性关节，利用绳驱动代替骨骼肌以实现对关节位置调节，通过软轴加齿轮减速驱动方式实现关节扭矩调节，从而实现关节不仅具有被动变刚度特性，而且可以利用力矩电机实现关节刚度的在线主动调节，通过有效的算法对伺服电机进行控制实现康复机构的运动轨迹规划，从而提高了下肢康复机构的运动灵活性。再次，研究采用一种不需通过坐标变换实现磁场定向控制的无位置传感器速度控制策略，根据滑模变结构理论设计观测器并实现了基于滑模观测器的传统无传感器速度控制，观测器估计的转速提供给级联控制的外部速度环以实现速度闭环控制，而估计的转子位置提供给内部派克及通过逆派克变换来完成磁场的定向控制；最后，通过位置、加速度、力及肌电信号等采集人体下肢及轮椅机构运动信息，进行康复轮椅机构的控制系统设计及样机制作，通过实验获取人体下肢康复数据，利用有效控制算法实现被动式康复训练、主动式康复训练及抗阻式康复训练。本课题的研究为进一步实现康复器械进入普通家庭及社区服务于下肢有障碍的疾病患者实现轮椅与康复器械的产品创新，提高人与轮椅的共融性以促进人类大健康，对推动康复产业发展具有重要的社会意义与现实意义。