下肢康复机器人机构的人-机相容性构型综合与人-机运动协同性优化设计研究

项目名称： 下肢康复机器人机构的人-机相容性构型综合与人-机运动协同性优化设计研究

项目编号： No.61273343

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 李剑锋

作者单位： 北京工业大学

项目金额： 80万元

中文摘要： 项目拟从人-机闭链整体角度研究下肢康复机器人机构的人-机相容性构型综合与运动协同性优化设计方法。基于人体下肢的生物骨骼模型、下肢关节运动信息和下假肢关节设计技术，研究人体下肢的刚体运动学模型。依据人-机闭链的恰运动约束分析，研究人-机相容性机构构型及联结模式的综合方法，通过构型和模式的综合与优选实现人-机之间的相容性设计。建立人-闭链的运动学模型，分析机器人机构参数、联接模式与联接位置参数对人-机运动位形偏差的影响，构造人-机运动协同性分析指标，研究运动协同性优化设计的模型与算法，通过参数设计实现人-机运动协同性的优化。研制一套实验系统并进行穿戴舒适性与运动协同性实验研究，以检验前述设计与优化方法的实用性。项目的意义是提出下肢康复机器人机构的人-机相容性构型综合方法与人-机运动协同性优化设计方法，设计出人-机相容且运动协同性优良的下肢康复机器人机构以提高下肢康复训练的舒适性和有效性。

中文关键词： 下肢康复机器人机构；人机相容性；运动协同性；构型综合；机构优化

英文摘要： This project intends to study, from the view of full human-machine closed kinematic chain, the methods of type synthesis and parameter optimization for lower-limb rehabilitation robot mechanism to improve the human-machine compatibility and motion synchronicity. Based on the biological bone model of human lower limb, the angular motion informations of human lower limb joints during up-stand walking as well as the designing techniques of joints in lower artificial limb, the rigid-body kinematics model of human lower limb is established. By means of the kinematically just constraint analysis of human-machine closed kinematic chain, the synthesis approach for seeking out the mechanism types and the connecting modes those are compatible to human lower limb is investigated. All of the feasible mechanism types and connecting modes will be put forward, and the human-machine compatibility design of lower limb robot mechanism is achieved through the optimal selection and combination of the obtained mechanism types and connecting modes. The kinematics of human-machine closed kinematic chain, the effects of parameters of robot mechanism, connecting modes and connecting positions on the deviations of motion configurations between human lower limb and robot mechanism will be analyzed, the index of human-machine motion synchr

英文关键词： robot mechanism for lower limb rehabilitation；human-robot compatibility；motion synchronicity；type synthesis；mechanism optimization