本文選題：膝關節(jié)康復 + 自適應��； 參考：《哈爾濱工程大學學報》2017年04期

【摘要】：為了探討膝關節(jié)自適應性康復外骨骼機構構型綜合與結構設計問題,本文基于人體膝關節(jié)屈伸運動實驗采集的數據,提取出膝關節(jié)運動瞬時螺旋參數;根據膝關節(jié)生理結構和膝關節(jié)螺旋軸的瞬變特性考究,建立人體膝關節(jié)的運動學模型。結合人-機運動相容性、人-機閉鏈自由度和人-機約束力矩作用性質分析,提出一種與人體膝關節(jié)運動相容的康復外骨骼機構構型;考慮結構簡單性和穿戴舒適性,對膝關節(jié)康復外骨骼裝置進行了結構設計,獲得了一套可自適應人體膝關節(jié)轉動軸線運動特性的膝關節(jié)康復外骨骼機構。
[Abstract]:In order to discuss the problem of configuration synthesis and structure design of knee joint self-adaptive rehabilitation exoskeleton mechanism, the instantaneous spiral parameters of knee joint motion were extracted based on the data collected from human knee joint flexion and extension motion experiment. According to the physiological structure of the knee joint and the transient characteristics of the spiral axis of the knee joint, the kinematic model of the human knee joint is established. Based on the analysis of human-machine motion compatibility, man-machine closed-chain freedom and human-machine constraint torque, a rehabilitation exoskeleton structure compatible with human knee joint motion is proposed, which considers the simplicity of structure and wear comfort. The structure design of knee joint rehabilitation exoskeleton device is carried out and a set of knee joint rehabilitation exoskeleton mechanism is obtained which can adapt the motion characteristics of knee joint rotation axis.
【作者單位】： 北京工業(yè)大學機械工程與應用電子技術學院;國家康復輔具研究中心;
【基金】：國家自然科學基金項目(61273342) 北京市自然科學基金項目(3132005)
【分類號】：R684
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本文編號：1791028