肢體協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人的機(jī)構(gòu)設(shè)計(jì)與實(shí)驗(yàn)

姜禮杰 陳進(jìn) 王良詣 侯言旭 王勇

肢體協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人的機(jī)構(gòu)設(shè)計(jì)與實(shí)驗(yàn)

姜禮杰1陳進(jìn)2王良詣1侯言旭1王勇1

針對(duì)臨床上缺少一種肢體協(xié)調(diào)運(yùn)動(dòng)康復(fù)訓(xùn)練設(shè)備的現(xiàn)狀,研制了一款適用于偏癱患者個(gè)性化訓(xùn)練的上下肢協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人.首先,在探究正常步態(tài)上下肢協(xié)調(diào)運(yùn)動(dòng)規(guī)律的基礎(chǔ)上,選擇以肩、膝關(guān)節(jié)角度協(xié)調(diào)變化規(guī)律作為機(jī)器人的設(shè)計(jì)目標(biāo);然后,基于五桿變胞機(jī)構(gòu)設(shè)計(jì)了康復(fù)訓(xùn)練機(jī)構(gòu)及主/輔傳動(dòng)鏈,并對(duì)訓(xùn)練機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)分析;最后,在樣機(jī)上進(jìn)行了實(shí)驗(yàn),結(jié)果表明該機(jī)器人能夠滿(mǎn)足設(shè)計(jì)目標(biāo).

康復(fù)機(jī)器人,上下肢協(xié)調(diào)運(yùn)動(dòng),偏癱患者,機(jī)構(gòu)設(shè)計(jì)

DOI10.16383/j.aas.2016.c160171

近年來(lái),我國(guó)人群腦卒中發(fā)病率總體呈上升趨勢(shì)[1].腦卒中發(fā)作后常會(huì)伴隨著患者的運(yùn)動(dòng)、語(yǔ)言和感知等方面的障礙,嚴(yán)重降低了他們的生活質(zhì)量,也給社會(huì)和家庭帶來(lái)了沉重的負(fù)擔(dān)[2?3].康復(fù)治療是降低致殘率和提高患者生活質(zhì)量的主要途徑[4?5].目前我國(guó)康復(fù)治療不僅極其缺乏康復(fù)人才,而且物理治療師與偏癱患者“一對(duì)一”的傳統(tǒng)康復(fù)治療方式存在著勞動(dòng)強(qiáng)度大、治療費(fèi)用高、康復(fù)周期長(zhǎng)等不足,致使我國(guó)“人人享有康復(fù)服務(wù)”的目標(biāo)難以順利實(shí)現(xiàn)[6?8].因此,借助康復(fù)訓(xùn)練設(shè)備對(duì)偏癱患者進(jìn)行康復(fù)治療的理念便應(yīng)運(yùn)而生.

傳統(tǒng)康復(fù)訓(xùn)練設(shè)備存在功能單一、智能化程度不高、康復(fù)訓(xùn)練效果有待提高等問(wèn)題[9].康復(fù)機(jī)器人是機(jī)器人技術(shù)和康復(fù)醫(yī)學(xué)的完美結(jié)合[10].它不僅可減輕醫(yī)療人員的負(fù)擔(dān),提高康復(fù)效率,而且還可詳細(xì)客觀(guān)地記錄訓(xùn)練過(guò)程中的運(yùn)動(dòng)和生理參數(shù),為物理治療師分析和評(píng)價(jià)康復(fù)訓(xùn)練效果提供參考依據(jù).近年來(lái),康復(fù)機(jī)器人已成為國(guó)際機(jī)器人領(lǐng)域的一個(gè)研究熱點(diǎn),同時(shí)也取得了諸多成果,諸如末端執(zhí)行式[11?13]、外骨骼式[14?15]、懸吊跑步機(jī)式[16?17]、單關(guān)節(jié)式[18?19]、坐/臥式[20?22]等康復(fù)訓(xùn)練機(jī)器人的研究和使用都有了很大程度的發(fā)展.但目前報(bào)道中,康復(fù)機(jī)器人研究主要集中于單一的上肢、下肢、某一關(guān)節(jié)部位的康復(fù)訓(xùn)練.訓(xùn)練方式也主要集中于肌力、肌張力、關(guān)節(jié)活動(dòng)度等方面,而對(duì)肢體平衡協(xié)調(diào)系統(tǒng)的康復(fù)研究報(bào)道相對(duì)較少.

肢體難以平衡協(xié)調(diào)地完成動(dòng)作是腦卒中患者后遺癥之一[23].人體平衡協(xié)調(diào)運(yùn)動(dòng)不僅是肌力、肌張力、關(guān)節(jié)活動(dòng)度作用的結(jié)果,前庭系統(tǒng)、視覺(jué)調(diào)節(jié)系統(tǒng)、身體本體感覺(jué)系統(tǒng)、大腦平衡反射調(diào)節(jié)、小腦共濟(jì)協(xié)調(diào)系統(tǒng)、基底節(jié)共濟(jì)失調(diào)、脊髓后索共濟(jì)失調(diào)以及肌群的力量在人體平衡功能的維持上都起到了重要作用[23].平衡協(xié)調(diào)功能是康復(fù)效果主要評(píng)價(jià)指標(biāo)之一[23?26],現(xiàn)有協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人主要用于患者康復(fù)中后期的主動(dòng)訓(xùn)練,運(yùn)動(dòng)軌跡單一.研制一款可適用于偏癱患者整個(gè)康復(fù)期的肢體協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人具有一定的實(shí)用價(jià)值[27].

不同患者、不同康復(fù)期對(duì)康復(fù)訓(xùn)練幅度要求具有差異性,患者采用統(tǒng)一的運(yùn)動(dòng)方式可能會(huì)形成異常動(dòng)作.目前能夠滿(mǎn)足個(gè)性化訓(xùn)練的康復(fù)機(jī)器人大都結(jié)構(gòu)復(fù)雜、控制困難、造價(jià)昂貴,難以惠及大眾.研制一款結(jié)構(gòu)簡(jiǎn)單、經(jīng)濟(jì)性好,能夠滿(mǎn)足不同康復(fù)期偏癱患者個(gè)性化需求的協(xié)調(diào)運(yùn)動(dòng)的康復(fù)機(jī)器人,是一項(xiàng)既具有重要現(xiàn)實(shí)意義,又有研究難度的工作.

本文分析正常步行時(shí)肩、膝關(guān)節(jié)協(xié)調(diào)運(yùn)動(dòng)規(guī)律,針對(duì)不同患者、不同康復(fù)期個(gè)性化訓(xùn)練幅度的要求,結(jié)合主/被動(dòng)不同訓(xùn)練模式的特點(diǎn),選擇坐姿可調(diào)減重方式,研制了一款安全可靠、經(jīng)濟(jì)性好、幅度可調(diào),在主/被動(dòng)訓(xùn)練模式下均可實(shí)現(xiàn)上肢肩關(guān)節(jié)與下肢膝關(guān)節(jié)協(xié)調(diào)運(yùn)動(dòng)的康復(fù)機(jī)器人.

1 協(xié)調(diào)運(yùn)動(dòng)規(guī)律

恢復(fù)正常步態(tài)運(yùn)動(dòng)是偏癱康復(fù)治療的主要目標(biāo)之一.正常步態(tài)是全身各肢體按照某一固定規(guī)律相互配合協(xié)調(diào)運(yùn)動(dòng)的結(jié)果,為探究人體步態(tài)協(xié)調(diào)運(yùn)動(dòng)規(guī)律,設(shè)計(jì)了健康成人正常步行實(shí)驗(yàn).實(shí)驗(yàn)選用一款基于微機(jī)電系統(tǒng)(Micro-electro-mechanical system,MEMS)慣性傳感器的荷蘭Xsens MVN運(yùn)動(dòng)捕捉系統(tǒng),獲取正常步行時(shí)肢體各個(gè)關(guān)節(jié)的運(yùn)動(dòng)學(xué)參數(shù).實(shí)驗(yàn)選取20名上、下肢均無(wú)運(yùn)動(dòng)障礙、身心健康、無(wú)疾病史的受試者.受試者在實(shí)驗(yàn)相關(guān)人員的幫助下,完成人體正常步態(tài)運(yùn)動(dòng),通過(guò)關(guān)節(jié)平移繪制人體棍棒圖如圖1所示.

圖1 正常步行棍棒圖Fig.1 Normal walking stick diagram

實(shí)驗(yàn)結(jié)果顯示:

1)正常步態(tài)下,人體上、下肢的運(yùn)動(dòng)范圍包括了矢狀面內(nèi)、額狀面和水平面,其中矢狀面內(nèi)的關(guān)節(jié)活動(dòng)度遠(yuǎn)遠(yuǎn)大于額狀面和水平面.本文參考文獻(xiàn)[28?30]將額狀面和水平面內(nèi)的運(yùn)動(dòng)忽略.

2)在正常行走時(shí),下肢在矢狀面內(nèi)同頻交替擺動(dòng),兩臂隨兩腿的交替運(yùn)動(dòng)而擺動(dòng),其運(yùn)動(dòng)方向與同側(cè)腿相反而與對(duì)側(cè)腿一致,大臂、小臂繞肩、肘關(guān)節(jié)呈圓弧狀轉(zhuǎn)動(dòng),大、小腿繞髖、膝關(guān)節(jié)轉(zhuǎn)動(dòng).

3)選取實(shí)驗(yàn)中12名受試者(男、女各6名)作為有效樣本進(jìn)行統(tǒng)計(jì)分析,平均步長(zhǎng)為58.63cm,膝關(guān)節(jié)平均活動(dòng)范圍為4.58°～58.93°,肩關(guān)節(jié)平均活動(dòng)范圍-15.07°～19.54°.不同身高、不同年齡的受試者肩、膝關(guān)節(jié)活動(dòng)度存在個(gè)體性差異.圖2為在水平地面上勻速直線(xiàn)行走時(shí),從腳跟觸地作為起點(diǎn),以同側(cè)腳跟再次觸地作為一個(gè)步態(tài)周期內(nèi)的肩膝關(guān)節(jié)協(xié)調(diào)擺動(dòng)規(guī)律.

圖2 正常步態(tài)下肩、膝關(guān)節(jié)角度變化規(guī)律Fig.2 Motion law of shoulder and knee during normal walking

2 機(jī)構(gòu)設(shè)計(jì)

坐/臥姿減重訓(xùn)練方式操作方便,本文選擇一種靠背可調(diào)傾斜角度的坐姿訓(xùn)練方式.機(jī)器人主要包括安裝于座椅兩側(cè)的上、下肢訓(xùn)練執(zhí)行機(jī)構(gòu)、機(jī)械傳動(dòng)系統(tǒng)、下位機(jī)控制系統(tǒng)、基于智能移動(dòng)硬件開(kāi)發(fā)的人機(jī)交互系統(tǒng)和一個(gè)靠背角度、椅面位置均可自動(dòng)調(diào)節(jié)的座椅以及腳踏、輔具等部件,人機(jī)模型如圖3所示.

機(jī)器人針對(duì)偏癱患者的不同康復(fù)階段提供被動(dòng)、主動(dòng)訓(xùn)練模式;在運(yùn)動(dòng)方式方面,不僅能夠?qū)崿F(xiàn)常規(guī)的兩側(cè)肢體異步交叉協(xié)調(diào)運(yùn)動(dòng),還可實(shí)現(xiàn)諸如蹦、下蹲等左右兩側(cè)肢體同步協(xié)調(diào)動(dòng)作.另外,為滿(mǎn)足患者精細(xì)化、個(gè)性化康復(fù)訓(xùn)練的需要,該機(jī)器人設(shè)計(jì)了個(gè)性化調(diào)節(jié)不同運(yùn)動(dòng)幅度的功能,主要技術(shù)參數(shù)如表1所示.

圖3 康復(fù)訓(xùn)練機(jī)器人人-機(jī)模型Fig.3 Rehabilitation training robot human-machine model

表1 機(jī)器人主要參數(shù)Table 1 Robot main parameters

2.1 康復(fù)訓(xùn)練機(jī)構(gòu)

平面連桿機(jī)構(gòu)具有承載力大、控制簡(jiǎn)單,安全可靠、經(jīng)濟(jì)性好等優(yōu)點(diǎn),通過(guò)合理地設(shè)置桿長(zhǎng)尺寸可在一定范圍實(shí)現(xiàn)任意軌跡.四桿機(jī)構(gòu)僅可實(shí)現(xiàn)某一固定運(yùn)動(dòng)軌跡,而難以滿(mǎn)足不同患者的個(gè)性化康復(fù)需求.變胞機(jī)構(gòu)是一類(lèi)通過(guò)機(jī)構(gòu)形態(tài)的轉(zhuǎn)換,將一種拓?fù)浣Y(jié)構(gòu)形式變換到另一種拓?fù)浣Y(jié)構(gòu)形式,通常在變換的過(guò)程中機(jī)構(gòu)的構(gòu)件數(shù)和自由度也會(huì)隨之發(fā)生改變的機(jī)構(gòu)[31].本文基于平面連桿機(jī)構(gòu)研制了一種下肢“五桿變胞機(jī)構(gòu)”,該機(jī)構(gòu)是由座椅機(jī)架、曲柄、連桿、搖桿、調(diào)整桿組成.為實(shí)現(xiàn)上、下肢協(xié)調(diào)運(yùn)動(dòng),在下肢“五桿變胞機(jī)構(gòu)”的基礎(chǔ)上添加一種由II級(jí)連桿、II級(jí)搖桿組成的零自由度II級(jí)桿組.訓(xùn)練時(shí)患者坐在椅面上,將手部與足部分別放于扶手和踏板處進(jìn)行固定,設(shè)置相應(yīng)訓(xùn)練參數(shù)即可.該機(jī)構(gòu)可通過(guò)設(shè)置不同的曲柄長(zhǎng)度、調(diào)整桿傾斜角度實(shí)現(xiàn)不同運(yùn)動(dòng)軌跡,以滿(mǎn)足不同患者的個(gè)性化訓(xùn)練幅度的需求.已獲國(guó)內(nèi)發(fā)明專(zhuān)利授權(quán)且申請(qǐng)了國(guó)際專(zhuān)利.由于機(jī)器人兩側(cè)訓(xùn)練機(jī)構(gòu)結(jié)構(gòu)相同,在矢狀面內(nèi)對(duì)稱(chēng)布置,文章選取右側(cè)一側(cè)訓(xùn)練機(jī)構(gòu)進(jìn)行分析,圖4為右側(cè)訓(xùn)練機(jī)構(gòu)三維模型和對(duì)應(yīng)的機(jī)構(gòu)示意圖.

在圖4中,曲柄為一開(kāi)有燕尾槽的圓盤(pán),圓盤(pán)一側(cè)圓心處與主傳動(dòng)系統(tǒng)相連,另一側(cè)為燕尾槽側(cè),與連桿連接的滑塊可在滑槽中滑動(dòng)以設(shè)置不同的曲柄長(zhǎng)度.曲柄一端與機(jī)架鉸接形成轉(zhuǎn)動(dòng)副,曲柄另一端與連桿的首端鉸接形成轉(zhuǎn)動(dòng)副;連桿的末端與搖桿的首端鉸接形成轉(zhuǎn)動(dòng)副,搖桿的末端與調(diào)整桿的首端鉸接形成轉(zhuǎn)動(dòng)副,調(diào)整桿的末端與機(jī)架鉸接形成轉(zhuǎn)動(dòng)副,調(diào)整桿由輔助傳動(dòng)系統(tǒng)進(jìn)行驅(qū)動(dòng);腳踏裝置安裝在連桿上;II級(jí)連桿的一端與連桿上某點(diǎn)鉸接形成轉(zhuǎn)動(dòng)副,II級(jí)連桿的另一端與II級(jí)搖桿的底端鉸接形成轉(zhuǎn)動(dòng)副;II級(jí)搖桿的中部安裝在機(jī)架上,與機(jī)架鉸接形成轉(zhuǎn)動(dòng)副,在II級(jí)搖桿的上端安裝有手柄,安裝位置可根據(jù)患者訓(xùn)練擺動(dòng)幅度需要進(jìn)行調(diào)節(jié).

圖4 康復(fù)機(jī)器人訓(xùn)練機(jī)構(gòu)Fig.4 Rehabilitation training robot actuators

在運(yùn)動(dòng)前,調(diào)整曲柄長(zhǎng)度和調(diào)整桿傾斜角位置,將其位置固定,此時(shí)五桿機(jī)構(gòu)則變胞為由機(jī)架、曲柄、連桿、搖桿組成的單自由度的四桿機(jī)構(gòu).在主傳動(dòng)機(jī)構(gòu)的驅(qū)動(dòng)下,曲柄做整周回轉(zhuǎn)運(yùn)動(dòng),帶動(dòng)整個(gè)訓(xùn)練機(jī)構(gòu)進(jìn)行運(yùn)動(dòng),腳踏點(diǎn)實(shí)現(xiàn)封閉曲線(xiàn)運(yùn)動(dòng),扶手在矢狀面內(nèi)實(shí)現(xiàn)往復(fù)擺動(dòng).

為滿(mǎn)足身高 150～185cm 范圍內(nèi)患者個(gè)性化康復(fù)訓(xùn)練需要.分別選擇身高為150cm、160cm、170cm、180cm、185cm的受試者正常步行時(shí)肩、膝關(guān)節(jié)角度變化與機(jī)器人訓(xùn)練機(jī)構(gòu)人-機(jī)模型中相同步態(tài)百分比中肩、膝關(guān)節(jié)運(yùn)動(dòng)角度的最小差值之和為優(yōu)化目標(biāo),以訓(xùn)練機(jī)構(gòu)桿長(zhǎng)存在性條件和桿件運(yùn)動(dòng)壓力角為約束條件,選用Matlab軟件中自帶約束非線(xiàn)性規(guī)劃問(wèn)題的Fmincon函數(shù)工具集對(duì)桿長(zhǎng)尺寸進(jìn)行優(yōu)化求解.設(shè)圖4中的桿1、桿2、桿3、桿4、桿5、桿6的長(zhǎng)度分別為l1,l2,l3,l4,l5,l6.由于每組身高優(yōu)化結(jié)果有所差異,綜合滿(mǎn)足身高150cm～185cm范圍內(nèi)桿長(zhǎng)尺寸,將曲柄設(shè)計(jì)為尺寸可調(diào)機(jī)構(gòu),取5組優(yōu)化結(jié)果中曲柄長(zhǎng)度最大值作為燕尾槽圓盤(pán)半徑.綜合以上因素確定各桿件長(zhǎng)度為:l1=120mm,l2=550mm,l3=350mm,l4=250mm,l5=200mm,l6=600mm.

2.2 傳動(dòng)系統(tǒng)

機(jī)器人兩側(cè)訓(xùn)練機(jī)構(gòu)由一套傳動(dòng)系統(tǒng)進(jìn)行驅(qū)動(dòng),傳動(dòng)系統(tǒng)由主傳動(dòng)鏈和輔助傳動(dòng)鏈兩部分組成.曲柄由設(shè)于機(jī)架上的主動(dòng)軸通過(guò)主傳動(dòng)鏈驅(qū)動(dòng)轉(zhuǎn)動(dòng),調(diào)整桿則通過(guò)輔傳動(dòng)鏈驅(qū)動(dòng);主傳動(dòng)鏈的作用為進(jìn)行主動(dòng)、被動(dòng)訓(xùn)練;輔助傳動(dòng)鏈的作用是調(diào)節(jié)調(diào)整桿不同傾角以實(shí)現(xiàn)不同的運(yùn)動(dòng)軌跡,達(dá)到不同的訓(xùn)練幅度.

2.2.1 主傳動(dòng)鏈

主傳動(dòng)鏈用來(lái)驅(qū)動(dòng)曲柄運(yùn)動(dòng),主要由伺服電機(jī)、減速機(jī)、離合器、齒輪和曲柄軸等零部件組成,如圖5所示.被動(dòng)訓(xùn)練時(shí),將伺服電機(jī)設(shè)置為位置模式或速度模式.伺服電機(jī)帶動(dòng)減速機(jī)和齒輪,通過(guò)離合器將軸1的運(yùn)動(dòng)傳遞到曲柄軸上,由曲柄軸帶動(dòng)兩側(cè)康復(fù)訓(xùn)練執(zhí)行機(jī)構(gòu)的曲柄進(jìn)行工作,從而帶動(dòng)患者進(jìn)行康復(fù)訓(xùn)練.

圖5 主傳動(dòng)鏈Fig.5 Main transmission chain

主動(dòng)訓(xùn)練時(shí),人體克服機(jī)器人的阻力進(jìn)行運(yùn)動(dòng).使用者的肢體運(yùn)動(dòng)通過(guò)康復(fù)訓(xùn)練執(zhí)行機(jī)構(gòu)傳遞到曲柄軸,由曲柄軸帶動(dòng)齒輪,通過(guò)主傳動(dòng)鏈將運(yùn)動(dòng)傳遞到伺服電機(jī)處.此時(shí),伺服電機(jī)被設(shè)置為力矩模式用來(lái)提供運(yùn)動(dòng)阻力.通過(guò)控制伺服電機(jī)輸入電流的大小可輸出不同的扭矩,當(dāng)伺服電機(jī)的運(yùn)動(dòng)方向與外界主動(dòng)運(yùn)動(dòng)方向相反時(shí),電機(jī)輸出的扭矩轉(zhuǎn)變?yōu)樽枇?從而實(shí)現(xiàn)鍛煉肌肉、增強(qiáng)肌力的目的.實(shí)現(xiàn)主被動(dòng)訓(xùn)練模式的原理如圖6所示.

圖6 主被動(dòng)訓(xùn)練模式原理Fig.6 Principle of active and passive training mode

2.2.2 輔助傳動(dòng)鏈

輔助傳動(dòng)鏈主要用來(lái)調(diào)節(jié)調(diào)整桿的傾斜角度,實(shí)現(xiàn)不同康復(fù)訓(xùn)練軌跡和幅度.輔助傳動(dòng)鏈結(jié)構(gòu)如圖7所示,由減速機(jī)、離合器、制動(dòng)器、齒輪和軸等組成.在進(jìn)行調(diào)節(jié)時(shí)候,離合器處于“粘合”狀態(tài),制動(dòng)器處于制動(dòng)狀態(tài),伺服電機(jī)將運(yùn)動(dòng)通過(guò)齒輪傳遞到調(diào)整桿軸,兩側(cè)齒輪參數(shù)相同,兩側(cè)調(diào)整桿軸旋轉(zhuǎn)角度相同.調(diào)整桿調(diào)整完成后,將離合器處于“離合”狀態(tài),制動(dòng)器處于“制動(dòng)”狀態(tài),制動(dòng)器與機(jī)架連接,因此齒輪3與調(diào)整桿處于靜止?fàn)顟B(tài).伺服電機(jī)運(yùn)動(dòng)也因離合器的“離合”而無(wú)法將運(yùn)動(dòng)傳遞到齒輪2.

圖7 輔助傳動(dòng)鏈Fig.7 Auxiliary transmission chain

3 運(yùn)動(dòng)學(xué)分析

運(yùn)動(dòng)學(xué)分析是機(jī)器人機(jī)構(gòu)設(shè)計(jì)和運(yùn)動(dòng)控制的基礎(chǔ).根據(jù)運(yùn)動(dòng)學(xué)分析原則,將協(xié)調(diào)訓(xùn)練機(jī)構(gòu)簡(jiǎn)化為七桿機(jī)構(gòu),M和N點(diǎn)分別為腳踏點(diǎn)和扶手位置,為機(jī)器人協(xié)調(diào)訓(xùn)練機(jī)構(gòu)操作末端.以E點(diǎn)為坐標(biāo)原點(diǎn),將訓(xùn)練機(jī)構(gòu)建立如圖8所示的X-O-Y坐標(biāo)系,H點(diǎn)坐標(biāo)為(xh,yh),規(guī)定逆時(shí)針旋轉(zhuǎn)角度為正.其中,桿AB、桿BC、桿CD、桿DE、桿AE、桿FG、桿GH、桿HN、桿CM、桿BF的長(zhǎng)度分別為l1,l2,l3,l4,l5,l6,l7,l8,l9,l10.

在圖8中,由閉環(huán)矢量關(guān)系可知:

圖8 訓(xùn)練機(jī)構(gòu)坐標(biāo)系Fig.8 Training actuators coordinate system

由歐拉公式展開(kāi)可得:

式(2)中聯(lián)合消去可得:

在式(3)中

求解式(3),可得:

聯(lián)合式(2),可得式(5):

將式(4)代入(5)可得到:

從式(4)和(6)可以看出θ2和θ3是關(guān)于θ1和θ4的函數(shù).

在圖8中,康復(fù)機(jī)器人訓(xùn)練機(jī)構(gòu)腳踏M點(diǎn)的矢量關(guān)系:

M點(diǎn)的速度:

在圖8中,設(shè)F點(diǎn)坐標(biāo)為(xf,yf),則:

聯(lián)合式(10)和(11)可得:

式(12)中消去θ5可得:

式(13)中

根據(jù)式(12)可得:

從式(13)和(14)可以看出θ5和θ6是桿長(zhǎng)l1,l10,l6,l7關(guān)于θ1和θ2的函數(shù),θ2是關(guān)于θ1和θ4的函數(shù),故θ5和θ6是關(guān)于θ1和θ4的函數(shù).

由圖8中各桿件的閉環(huán)矢量關(guān)系可知,N點(diǎn)的位置:

對(duì)式(15)求導(dǎo)可得N點(diǎn)的速度:

從式(8)、(9)、(15)、(16)可知,各桿件的長(zhǎng)度是固定的,M、N點(diǎn)的位置與速度關(guān)系均是各構(gòu)件桿長(zhǎng)關(guān)于θ1、θ4及的函數(shù).故機(jī)器人訓(xùn)練機(jī)構(gòu)工作時(shí),腳踏點(diǎn)M與扶手位置點(diǎn)N二者的運(yùn)動(dòng)是相互協(xié)調(diào)的.

綜上運(yùn)動(dòng)學(xué)分析可知,腳踏點(diǎn)M和扶手點(diǎn)N均是訓(xùn)練機(jī)構(gòu)桿長(zhǎng)關(guān)于曲柄轉(zhuǎn)角θ1和調(diào)整桿傾角θ4的函數(shù),改變桿長(zhǎng)、θ1、θ4可實(shí)現(xiàn)不同的運(yùn)動(dòng)軌跡和幅度,從理論上證明了機(jī)器人訓(xùn)練機(jī)構(gòu)實(shí)現(xiàn)個(gè)性化上下肢協(xié)調(diào)運(yùn)動(dòng)的可行性,同時(shí)也為運(yùn)動(dòng)控制奠定了理論基礎(chǔ).

4 樣機(jī)實(shí)驗(yàn)與討論

為探究該機(jī)器人能否滿(mǎn)足主被動(dòng)訓(xùn)練和個(gè)性化運(yùn)動(dòng)幅度的設(shè)計(jì)要求,在樣機(jī)上進(jìn)行了相關(guān)實(shí)驗(yàn),并參考現(xiàn)有協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人進(jìn)行了討論.

4.1 主被動(dòng)肢體協(xié)調(diào)運(yùn)動(dòng)

為驗(yàn)證該機(jī)器人是否滿(mǎn)足主、被動(dòng)不同訓(xùn)練模式下肢體協(xié)調(diào)運(yùn)動(dòng)要求,征集了10名受試者,調(diào)節(jié)不同曲柄長(zhǎng)度及調(diào)整桿與水平面夾角進(jìn)行體驗(yàn)主、被動(dòng)訓(xùn)練模式下的肢體協(xié)調(diào)運(yùn)動(dòng)實(shí)驗(yàn).圖9(a)～(f)為選擇曲柄長(zhǎng)度l1=100mm,調(diào)整桿與水平面夾角為30°位置時(shí),某一26歲、身高167cm、體重為57kg男性志愿者在被動(dòng)訓(xùn)練模式下訓(xùn)練的過(guò)程.

圖9 一個(gè)運(yùn)動(dòng)周期內(nèi)的上下肢協(xié)調(diào)運(yùn)動(dòng)Fig.9 Coordinated movement of upper and lower limbs in a period of cycle

圖10～12為被動(dòng)訓(xùn)練模式時(shí)10名受試者在3r/min、6r/min、9r/min、15r/min不同速度下的平均膝、肩關(guān)節(jié)角度和平均足底壓力變化規(guī)律;主動(dòng)訓(xùn)練時(shí),在控制策略中將機(jī)器人伺服電機(jī)從0A至2A電流所產(chǎn)生的阻力扭矩平均分為20檔,圖13～15為主動(dòng)訓(xùn)練模式時(shí),10名受試者在阻力1、阻力4、阻力9、阻力18和阻力20檔下,平均肩、膝關(guān)節(jié)角度和平均足底壓力變化規(guī)律.

從圖10～12曲線(xiàn)可知,在被動(dòng)訓(xùn)練時(shí),不同速度下平均肩、膝關(guān)節(jié)角度變化為周期協(xié)調(diào)變化,肩、膝關(guān)節(jié)角度變化呈現(xiàn)為正弦曲線(xiàn),整個(gè)訓(xùn)練過(guò)程運(yùn)行連續(xù)、柔順.不同速度下,平均足底壓力運(yùn)動(dòng)也呈現(xiàn)周期性規(guī)律波動(dòng),波動(dòng)范圍在±15%之內(nèi).機(jī)器人能夠在被動(dòng)模式下幫助受試者完成上下肢協(xié)調(diào)運(yùn)動(dòng)訓(xùn)練.同時(shí),肩、膝關(guān)節(jié)和足底壓力周期性協(xié)調(diào)變化符合踝關(guān)節(jié)運(yùn)動(dòng)軌跡是連續(xù)閉合曲線(xiàn)的運(yùn)動(dòng)規(guī)律.另外,受試者主觀(guān)評(píng)價(jià)整個(gè)試用過(guò)程運(yùn)動(dòng)柔順、速度沖擊小.

圖10 被動(dòng)訓(xùn)練模式下膝關(guān)節(jié)運(yùn)動(dòng)Fig.10 Knee motion in passive training mode

圖11 被動(dòng)訓(xùn)練模式下肩關(guān)節(jié)運(yùn)動(dòng)Fig.11 Shoulder motion in passive training mode

圖12 被動(dòng)訓(xùn)練模式下足底壓力變化Fig.12 Change of plantar pressure in passive training mode

在主動(dòng)訓(xùn)練時(shí),根據(jù)受試者的需要,調(diào)節(jié)伺服電機(jī)輸出不同的阻力,受試者克服阻力運(yùn)動(dòng),受試過(guò)程中肢體可連續(xù)實(shí)現(xiàn)上下肢體協(xié)調(diào)運(yùn)動(dòng),鍛煉肌力.從圖13～15曲線(xiàn)可知,在主動(dòng)訓(xùn)練時(shí),平均膝、肩關(guān)節(jié)角度也為周期協(xié)調(diào)變化,曲線(xiàn)為正弦函數(shù)曲線(xiàn),整個(gè)訓(xùn)練過(guò)程運(yùn)行連續(xù)、柔順.平均足底壓力運(yùn)動(dòng)曲線(xiàn)呈現(xiàn)周期性規(guī)律波動(dòng).肩、膝關(guān)節(jié)和足底壓力周期性協(xié)調(diào)變化符合踝關(guān)節(jié)運(yùn)動(dòng)軌跡是連續(xù)閉合曲線(xiàn)的運(yùn)動(dòng)規(guī)律.

圖13 主動(dòng)訓(xùn)練模式下膝關(guān)節(jié)運(yùn)動(dòng)Fig.13 Knee motion in active training mode

圖14 主動(dòng)訓(xùn)練模式下肩關(guān)節(jié)運(yùn)動(dòng)Fig.14 Shoulder motion in active training mode

圖15 主動(dòng)訓(xùn)練模式下足底壓力變化Fig.15 Change of plantar pressure in active training mode

4.2 個(gè)性化協(xié)調(diào)運(yùn)動(dòng)試驗(yàn)

調(diào)整桿與水平面的夾角θ4能夠在一定范圍內(nèi)進(jìn)行調(diào)節(jié),實(shí)際測(cè)量θ4調(diào)整范圍為0°～90°,符合表1的設(shè)計(jì)要求.選擇一身高168cm(《中國(guó)成人人體尺寸》18～60歲男性50百分位的身高為167.8cm)、年齡為25歲、體重為64kg的男性作為受試者,探究被動(dòng)訓(xùn)練模式下曲柄長(zhǎng)度與調(diào)整桿傾角θ4對(duì)肩、膝關(guān)節(jié)協(xié)調(diào)運(yùn)動(dòng)規(guī)律的影響.

圖16、18為調(diào)整桿傾斜角θ4固定時(shí),設(shè)置不同曲柄長(zhǎng)度肩、膝關(guān)節(jié)角度變化曲線(xiàn).從圖16、18可看出:肩、膝關(guān)節(jié)活動(dòng)度與曲柄長(zhǎng)度成比例關(guān)系,曲柄越長(zhǎng),肩、膝關(guān)節(jié)活動(dòng)度越大.當(dāng)設(shè)置曲柄長(zhǎng)度為50mm時(shí),肩關(guān)節(jié)活動(dòng)度為-6.59°～12.27°,膝關(guān)節(jié)活動(dòng)度為1.93°～66.76°;當(dāng)曲柄長(zhǎng)度為100mm時(shí),肩關(guān)節(jié)活動(dòng)度為-14.75°～24.45°,膝關(guān)節(jié)活動(dòng)度為9.82°～42.43°.

圖16 不同曲柄l1下肩關(guān)節(jié)運(yùn)動(dòng)Fig.16 Shoulder motion depending on diferent crank lengthsl1

圖17和圖19為被動(dòng)訓(xùn)練模式下,固定曲柄長(zhǎng)度,調(diào)節(jié)不同調(diào)整桿傾斜角θ4,肩、膝關(guān)節(jié)角度變化曲線(xiàn).從圖17和圖19上可知,調(diào)節(jié)傾斜角θ4運(yùn)動(dòng)也可實(shí)現(xiàn)不同的肩、膝關(guān)節(jié)活動(dòng)度.傾斜角θ4為40°時(shí),肩關(guān)節(jié)活動(dòng)度為-13.59°～13.27°,膝關(guān)節(jié)活動(dòng)度為11.04°～78.48°;傾斜角θ4為65°時(shí),肩關(guān)節(jié)活動(dòng)度為-5.62°～23.5°,膝關(guān)節(jié)活動(dòng)度為3.87°～48.56°;通過(guò)調(diào)整不同的傾斜角θ4可改變肩、膝關(guān)節(jié)活動(dòng)度.不同患者可根據(jù)身高、康復(fù)期合理選擇訓(xùn)練機(jī)構(gòu)曲柄長(zhǎng)度和傾斜角度θ4以實(shí)現(xiàn)個(gè)性化的肩、膝關(guān)節(jié)訓(xùn)練.

圖17 不同θ4角肩關(guān)節(jié)運(yùn)動(dòng)Fig.17 Shoulder motion depending on diferentθ4angles

圖18 不同曲柄l1膝關(guān)節(jié)運(yùn)動(dòng)Fig.18 Knee motion depending on diferent crank lengthsl1

圖19 不同θ4角膝關(guān)節(jié)運(yùn)動(dòng)Fig.19 Knee motion depending on diferentθ4angles

綜上所述與本文第3節(jié)的運(yùn)動(dòng)學(xué)分析結(jié)論相一致,“腳踏點(diǎn)M和扶手點(diǎn)N均是訓(xùn)練機(jī)構(gòu)桿件長(zhǎng)度關(guān)于曲柄轉(zhuǎn)角θ1和調(diào)整桿傾角θ4的函數(shù)”,即通過(guò)調(diào)節(jié)曲柄長(zhǎng)度和調(diào)整桿傾角θ4可實(shí)現(xiàn)肩、膝關(guān)節(jié)個(gè)性化訓(xùn)練,滿(mǎn)足設(shè)計(jì)目標(biāo).

4.3 臨床實(shí)驗(yàn)

目前該機(jī)器人樣機(jī)的功能有效性正在醫(yī)院進(jìn)行臨床驗(yàn)證.試用對(duì)象為涵蓋康復(fù)前、中、后三個(gè)階段的偏癱病人.建議每位受試者每天上、下午各訓(xùn)練1次,每次訓(xùn)練時(shí)間為20min,4周為一個(gè)治療周期.臨床實(shí)驗(yàn)初步結(jié)果顯示,機(jī)器人能夠滿(mǎn)足不同身高、不同康復(fù)期患者個(gè)性化的上下肢協(xié)調(diào)訓(xùn)練要求;通過(guò)對(duì)比實(shí)驗(yàn)表明,機(jī)器人對(duì)恢復(fù)偏癱患者肢體協(xié)調(diào)功能有一定的作用,得到了醫(yī)生與偏癱患者的肯定.由于統(tǒng)計(jì)樣本量過(guò)少和對(duì)臨床有效性也僅僅限于主觀(guān)評(píng)價(jià),臨床有效性需要深入研究和定量評(píng)價(jià).

4.4 討論

通過(guò)上述實(shí)驗(yàn)結(jié)果可知,該機(jī)器人通過(guò)調(diào)節(jié)曲柄長(zhǎng)度與調(diào)整桿位置能夠?qū)崿F(xiàn)不同運(yùn)動(dòng)軌跡幅度的主被動(dòng)訓(xùn)練模式相結(jié)合的肢體協(xié)調(diào)運(yùn)動(dòng).目前臨床上常見(jiàn)的肢體協(xié)調(diào)訓(xùn)練康復(fù)設(shè)備主要有橢圓機(jī)、NuStep四肢聯(lián)動(dòng)康復(fù)器等.

橢圓機(jī)是一種運(yùn)動(dòng)軌跡為橢圓的上下肢協(xié)調(diào)運(yùn)動(dòng)無(wú)源健身設(shè)備,運(yùn)動(dòng)平穩(wěn),對(duì)膝關(guān)節(jié)沖擊小,主要應(yīng)用于健身場(chǎng)所.一些學(xué)者將減重裝置與橢圓機(jī)相結(jié)合應(yīng)用于偏癱患者中后期的康復(fù)治療并證實(shí)一定的康復(fù)訓(xùn)練效果[32?33].由于橢圓機(jī)一般為站立式,在偏癱患者康復(fù)訓(xùn)練過(guò)程中需對(duì)患者進(jìn)行捆綁減重操作;

NuStep四肢聯(lián)動(dòng)康復(fù)器是一種在坐姿下利用患者自身的肌力作為動(dòng)力源,健側(cè)肢體帶動(dòng)患側(cè)肢體的無(wú)源四肢聯(lián)動(dòng)康復(fù)訓(xùn)練裝置[34].主要用于偏癱或截癱患者零肌力的主動(dòng)康復(fù)訓(xùn)練,可改善患肢肌力、增強(qiáng)肢體靈活性與協(xié)調(diào)性[35?36].在訓(xùn)練過(guò)程中上肢實(shí)現(xiàn)伸夠、下肢實(shí)現(xiàn)蹬踏運(yùn)動(dòng),運(yùn)動(dòng)軌跡相對(duì)單一;

康復(fù)踏車(chē)是目前最常見(jiàn)的一種末端式康復(fù)機(jī)器人,結(jié)構(gòu)簡(jiǎn)單,單自由度驅(qū)動(dòng),具有主被動(dòng)訓(xùn)練功能,對(duì)不同康復(fù)期腦卒中[37]、脊髓損傷[38]、帕金森[39]患者的上下肢進(jìn)行圓周訓(xùn)練,一般分別對(duì)上、下肢進(jìn)行獨(dú)立訓(xùn)練.

步態(tài)、圓周、橢圓等不同運(yùn)動(dòng)軌跡所刺激肢體肌肉與神經(jīng)的位置也不同,不同患者及同一患者的不同康復(fù)期對(duì)康復(fù)運(yùn)動(dòng)軌跡、幅度具有差異性.本文在綜合分析患者個(gè)性化康復(fù)訓(xùn)練需求的基礎(chǔ)上,借鑒現(xiàn)有器械的優(yōu)點(diǎn),提出了一種有源坐姿康復(fù)訓(xùn)練機(jī)器人,以滿(mǎn)足不同患者不同康復(fù)期的個(gè)性化的訓(xùn)練軌跡、幅度以及主被動(dòng)訓(xùn)練模式,同時(shí)考慮設(shè)備占地空間小、經(jīng)濟(jì)性好、操作簡(jiǎn)單,以適應(yīng)更多場(chǎng)合,為更多患者提供幫助.前期工作雖然取得了一定進(jìn)展,但仍存有一些問(wèn)題需要進(jìn)行深入的探討,如不同患者在不同康復(fù)期如何選擇最為有效的康復(fù)訓(xùn)練軌跡、幅度等問(wèn)題仍需大量臨床實(shí)驗(yàn)進(jìn)行驗(yàn)證.

5 結(jié)論

1)本文選擇坐姿訓(xùn)練方式,以人體正常步態(tài)下肩、膝關(guān)節(jié)角度協(xié)調(diào)變化規(guī)律為設(shè)計(jì)目標(biāo),基于“五桿變胞機(jī)構(gòu)”研制了一種新型康復(fù)訓(xùn)練機(jī)器人;

2)對(duì)機(jī)器人的訓(xùn)練機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)分析,從理論上證明了該機(jī)器人訓(xùn)練機(jī)構(gòu)實(shí)現(xiàn)上下肢協(xié)調(diào)運(yùn)動(dòng)的可行性;

3)在機(jī)器人樣機(jī)上進(jìn)行了主被動(dòng)協(xié)調(diào)運(yùn)動(dòng)和調(diào)節(jié)運(yùn)動(dòng)幅度實(shí)驗(yàn).實(shí)驗(yàn)結(jié)果表明,該機(jī)器人能夠在主被動(dòng)訓(xùn)練模式下實(shí)現(xiàn)肩、膝關(guān)節(jié)協(xié)調(diào)運(yùn)動(dòng)訓(xùn)練;通過(guò)控制曲柄長(zhǎng)度和調(diào)整桿的傾斜角能夠?yàn)椴煌颊咛峁﹤€(gè)性化的肩、膝關(guān)節(jié)協(xié)調(diào)運(yùn)動(dòng);

4)機(jī)器人樣機(jī)正在醫(yī)院進(jìn)行臨床試用,訓(xùn)練效果得到了醫(yī)生與患者的主觀(guān)定性認(rèn)可,有效性仍需進(jìn)行深入研究與定量評(píng)價(jià).

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姜禮杰合肥工業(yè)大學(xué)機(jī)械工程學(xué)院博士研究生.主要研究方向?yàn)榭祻?fù)機(jī)器人.

E-mail:jianglijie001@126.com

(JIANG Li-JiePh.D.candidate at the School of Mechanical Engineering,Hefei University of Technology.His main research interest is rehabilitation training robot.)

陳 進(jìn)安徽省立醫(yī)院康復(fù)醫(yī)學(xué)科副主任醫(yī)師.主要研究方向?yàn)樯窠?jīng)疾患臨床康復(fù).E-mail:ahslyykfyx@139.com

(CHEN JinAssociate chief physician in the Department of Rehabilitation Medicine,Anhui Provincial Hospital.His main research interest is clinical rehabilitation of neurological disease.)

王良詣合肥工業(yè)大學(xué)機(jī)械與汽車(chē)工程學(xué)院碩士研究生.主要研究方向?yàn)榭祻?fù)機(jī)器人機(jī)構(gòu)設(shè)計(jì),優(yōu)化設(shè)計(jì).

E-mail:wlyenglish@126.com

(WANG Liang-YiMaster student at the School of Mechanical Engineering,Hefei University of Technology.His research interest covers design of rehabilitation robot mechanism and optimization design.)

侯言旭合肥工業(yè)大學(xué)機(jī)械工程學(xué)院碩士研究生.主要研究方向?yàn)闄C(jī)器人控制,生物信號(hào)處理.

E-mail:monkeylike@163.com.cn

(HOU Yan-XuMaster student at the School of Mechanical Engineering, Hefei University of Technology.His research interest covers robot control and biomedical signal processing.)

王 勇合肥工業(yè)大學(xué)機(jī)械工程學(xué)院教授.2008年獲得合肥工業(yè)大學(xué)機(jī)械與汽車(chē)工程學(xué)院博士學(xué)位.主要研究方向?yàn)闄C(jī)械設(shè)計(jì)、傳感及測(cè)試技術(shù),服務(wù)機(jī)器人.本文通信作者.

E-mail:simenkouwang@sina.com

(WANGYongProfessor at the Schoolof MechanicalEngineering, Hefei University of Technology.He received his Ph.D.degree from the School of mechanical and Automotive engineering,Hefei University of Technology in 2008.His research interest covers mechanical design,sensing and measuring technology,and service robot.Corresponding author of this paper.)

Mechanism Design and Experiment of Rehabilitation Training Robot for Coordinated Movement of Upper and Lower Limbs

JIANG Li-Jie1CHEN Jin2WANG Liang-Yi1HOU Yan-Xu1WANG Yong1

Owing to the lack of clinic rehabilitation training equipment for coordinated movement,a rehabilitation robot for upper and lower limbs coordination movement is developed,which is suitable for individualized training of hemiplegia patients.Firstly,the regularity of human shoulder and knee angle coordination movement is identifed as a design objective based on normal gait of coordination movement of upper and lower limbs.Then,the rehabilitation training mechanism and the main or auxiliary drive chain based on a fve-bar metamorphic mechanism are designed,and kinematic analysis of training mechanism is carried out.Finally,tests on the prototype are carried out,and the results show that the robot can achieve the design goal.

Rehabilitation training robot,coordinated movement of upper and lower limbs,hemiplegic patients,mechanism design

姜禮杰,陳進(jìn),王良詣,侯言旭,王勇.肢體協(xié)調(diào)運(yùn)動(dòng)康復(fù)機(jī)器人的機(jī)構(gòu)設(shè)計(jì)與實(shí)驗(yàn).自動(dòng)化學(xué)報(bào),2016,42(12): 1808?1818

Jiang Li-Jie,Chen Jin,Wang Liang-Yi,Hou Yan-Xu,Wang Yong.Mechanism design and experiment of rehabilitation training robot for coordinated movement of upper and lower limbs.Acta Automatica Sinica,2016,42(12): 1808?1818

2016-02-26 錄用日期2016-08-23

Manuscript received February 26,2016;accepted August 23, 2016

國(guó)家自然科學(xué)基金 (41076061),科技型中小企業(yè)技術(shù)創(chuàng)新基金(11C26213402042)資助

Supported by National Natural Science Foundation of China (41076061),Innovation Fund For Small Technology Based Firms (11C26213402042)

本文責(zé)任編委王啟寧

Recommended by Associate Editor WANG Qi-Ning

1.合肥工業(yè)大學(xué)機(jī)械工程學(xué)院 合肥 230009 2.安徽省立醫(yī)院康復(fù)醫(yī)學(xué)科合肥230001

1.School of Mechanical Engineering,Hefei University of Technology,Hefei 230009 2.Department of Rehabilitation Medicine,Anhui Provincial Hospital,Hefei 230001