【作者】 刘文俊；

【导师】 吴海帆；

【作者基本信息】 大连理工大学 ， 机械设计及理论， 2009， 硕士

【摘要】 我国正快速步入老龄化社会,亟需开发新型的面向老年人的步行助力装置。对于因下肢骨关节炎而导致的行走困难这一老年人的常见病,减重步行助力被证明是一个行之有效的医疗康复手段。然而目前市场上还没有商品化的减重步行助力的机器,国内外对这方面的研究也还不太成熟,因此开展对新型减重步行助力机器的开发和研究具有十分重要的意义。本文针对因下肢骨关节炎而导致行走困难的患者,提出了并联气动减重步行助力机器人的设计构想,并开发设计了适用于单腿患病情况的减重步行助力机器人试验样机和生物力学测力平台。试验样机采用环绕腿布置的带有气缸的并联机构,为患者提供步行助力。在控制上,由研制的鞋底体重传感器测量患者的脚底接地反力,并将脚底接地反力信号由数据采集卡采集至控制计算机,再由计算机生成气缸控制指令,连续控制并联机构中气缸的输出力,从而达到按设定比例减重步行助力的目的。试验样机的并联机构能为患者提供足够的支撑力,而且具有保持患者行走步态平衡的功能。为了测量行走步幅和评定减重步行助力的效果,还研制了生物力学测力平台,以测量平台上承受的力的大小和作用位置。本文介绍了应用开发的试验样机和生物力学测力平台,进行的步行助力试验。详细地介绍了试验的构成和试验结果。在试验中,采用了数据采集卡和Matlab中的RealtimeWindows Target工具箱进行实时数据采集和实时控制。进行了减重50%体重和80%体重的真人步行助力实验,并对试验数据进行了分析。试验结果证明了设计思想的合理性和减重步行助力的有效性。另外还验证了气动并联机构在增强行走步态平衡时的有效性。更多还原

【Abstract】 Our country is aging rapidly there is an urgent need for the development of new devices to help the elder’s walking. Osteoarthritis of Lower limb which makes difficulties in walking is a common disease for the elder, weight bearing walking assist was proved an effective method of medical rehabilitation. Domestic and international researches in this area are not mature yet, thus the development of new types of weight bearing waling assist machine is very important.In this paper, for those patients who feels difficulties in walking caused by osteoarthritis of lower limb, a design concept of a parallel pneumatic weight bearing walking assist robot is proposed, a prototype of weight bearing walking assist robot for single ill leg and a biomechanics force platform are developed. Experimental prototype has the parallel mechanism with cylinders around the leg to provide the assist force for patients walking. In the control systems, a sole bodyweight sensor is developed to measure the foot ground reaction force, the ground reaction force signals collected by a data acquisition card is send to the computer, the computer generate the instructions for the cylinder pressure control, and the output force from the cylinder is controlled to achieve the proportional body weight bearing walking assist. Experimental prototype of parallel mechanism can provide sufficient assisting force for patients, and also has the function of maintaining gait balance during walking. In order to measure walking pace and the effect of walking assisting, a biomechanical measuring platform is also developed to measure the foot force and the position of the foot force.Using the developed prototype robot and the biomechanical measuring platform, experiments of walking assist is done. The construction and the experimental results presented in details. In the experiments, a data acquisition card is used and the Realtime Windows Target toolbox in the Matlab is also used for real-time data acquisition and real-time control. The experiment of weight bearing of 50% and 80% bodyweight is done by a person, and the test data is analyzed. The experimental results prove that the concept of design is rational and the body weight bearing walking assist is effective. The experimental results also prove the effectiveness of the prototype robot in increasing the stability of the gait balance during walking.更多还原