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QU H J , LI T L 1, LIU J H ,et al.Simulation and experimental analysis of lower limb exoskeleton rehabilitation robot[J].Journal of Henan Polytechnic University(Natural Science) ,2024,43(3):115-124.

下肢外骨骼康复机器人仿真和试验分析

曲海军1, 李天亮1, 刘建慧1, 秦小俊1, 杨永强1, 李强2, 王金武3, 倪国骅1, 赵东亮4, 王建平1

1.河南理工大学 机械与动力工程学院，河南 焦作 454000 2.河南优德医疗设备股份有限公司，河南 开封 475500 3.上海交通大学 第九人民医院，上海  200011 4.河南省洛阳正骨医院（河南省骨科医院），河南 洛阳 471000

摘要:  目的   为了帮助下肢运动障碍者进行有序康复训练，设计一种下肢外骨骼康复机器人，动力源驱动下肢交叉摆动模拟人类正常步态行走，实现双下肢协调运动，帮助下肢运动障碍者完成康复训练。 方法 建立外骨骼机器人三维模型、下肢外骨骼机器人D-H模型，对下肢外骨骼康复机器人进行正、逆运动学分析，并将模型导入ADAMS，创建运动副与驱动函数进行运动学仿真，在此基础上制作样机并进行动力学测试试验分析。 结果 正、逆运动学验证了外骨骼康复机器人空间运动的合理性，ADAMS运动仿真结果与理论计算具有良好一致性，从而保证设计的下肢外骨骼结构与穿戴者下肢同步协调。仿真分析发现理论计算和仿真的误差主要来源于驱动函数误差，动作误差最大为2.15 cm。试验验证髋关节、膝关节运动与参考输入运动具有一致性。但是运动存在误差，髋关节平均误差为5.57°，膝关节平均误差为5.45°，实验发现电机扭矩不足是引起运动误差的首要因素，其次是零件加工误差和装配误差。  结论 通过理论计算、仿真与试验分析验证了方案的可行性，发现驱动误差、零件加工精度和装配精度可带来误差。研究结果可为进一步完善机器人性能和研究康复机器人动力学影响因素提供基础和参数依据。  

关键词:康复;外骨骼机器人;ADAMS仿真;运动学;动力学试验

doi:10.16186/j.cnki.1673-9787.2022070036

基金项目:中国残疾人联合会残疾人辅助器具专项项目（2021CDPFAT-14）； 国家自然科学基金资助项目（31370999）

收稿日期:2022/07/17

修回日期:2022/09/09

出版日期:2024/05/15

Simulation and experimental analysis of lower limb exoskeleton rehabilitation robot

QU Haijun1, LI Tianliang1, LIU Jianhui1, QIN Xiaojun1, Yang Yongqiang1, LI Qiang2, WANG Jinwu3, NI Guohua1, ZHAO Dongliang4, WANG Jianping1

1.School of Mechanical and Power Engineering，Henan Polytechnic University，Jiaozuo  454000，Henan，China 2.Henan Youde Medical Equipment Co.LTD.，Kaifeng  475500， Henan， China 3.Ninth people’s hospital affiliated to shanghai JiaoTong University， Shanghai， 200011， China 4.Luoyang Orthopedic Hospital of Henan Province （Orthopedic Hospital of Henan Province）， Luoyang  471000， Henan， China

Abstract:  Objectives  In order to help the patients with lower limb movement disorders to get orderly rehabilitation training， a lower limb exoskeleton rehabilitation robot was designed. The lower limb crossed swing driven by the power source can simulate normal human gait to achieve coordinated movement of both lower limbs and helped people with lower limb movement disorders complete rehabilitation training.   Methods  In this paper， the three-dimensional model of the exoskeleton robot was first drawn， and the D-H model of the lower limb exoskeleton robot was established. Then， the forward and inverse kinematics of the lower limb exoskeleton robot were analyzed， and the model was imported into ADAMS to create motion pairs and drive functions for kinematic simulation. On this basis， prototype was made and dynamic test and analysis was carried out.  Results The forward and inverse kinematics verified the rationality of the exoskeleton robot's motion in space. Through ADMAS motion simulation， the motion simulation results were obtained and the theoretical calculation was compared to prove that the motion was consistent. The simulation results were consistent with the theoretical calculation，and the designed exoskeleton lower limb structure was synchronized with the wearer’s lower limb. The simulation analysis demonstrated that the error of theoretical calculation and simulation mainly came from the error of driving function， the maximum error was 2.15 cm. The prototype was made according to the simulation， the dynamic test and experimental analysis verified that the motion of hip and knee joints was consistent with the ideal motion.But there were also errors in motion，the average error of hip joint was 5.57°，and the average error of knee joint was 5.45°. The source of error was from，firstly，the insufficient torque of motor，secondly，the parts machining accuracy and assembly accuracy.  Conclusions  The feasibility of the scheme was verified by theoretical calculation， simulation and test analysis，and the errors were caused by driving errors，parts machining accuracy and assembly accuracy.The research results can provid the basis and parameter basis for further improving the performance of the robot and studying the dynamic factors of the rehabilitation robot dynamics.  

Key words:rehabilitation;exoskeleton robot;ADAMS simulation;kinematics;dynamic test