曲海军, 李天亮, 刘建慧,等.下肢外骨骼康复机器人仿真和试验分析[J].河南理工大学学报（自然科学版）,doi:10.16186/j.cnki.1673-9787.2022070036.

QU H J, LI T L, LIU J H, et al.Simulation and experimental analysis of lower exoskeleton rehabilitation robot[J].Journal of Henan Polytechnic University(Natural Science) ,doi:10.16186/j.cnki.1673-9787.2022070036.

下肢外骨骼康复机器人仿真和试验分析（网络首发）

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:为了帮助下肢运动障碍者进行有序的康复训练，设计一种下肢外骨骼康复机器人，在动力源的作用下带动双下肢交叉摆动以模拟人类正常步态行走，从而带动整个双下肢协调运动。本文对下肢外骨骼机器人进行正、逆运动学分析，并在ADAMS中进行运动学仿真。仿真结果与理论计算比较证明运动具有一致性，从而保证设计的外骨骼下肢结构与穿戴者下肢同步协调。仿真分析可知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。在此基础上制作样机并进行动力学测试试验分析，通过试验验证髋关节、膝关节运动与参考输入运动具有一致性。但是运动也存在误差,髋关节的平均误差为5.57°，膝关节的平均误差为5.45°，电机扭矩不足是引起误差的首要因素，其次是零件加工精误差和装配误差。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

中图分类号：R496;TP242

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:2022-12-06

网络首发日期: 2023-04-19

Simulation and experimental analysis of lower exoskeleton rehabilitation robot（Online）

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:In order to help the patients with lower extremity paralysis to get orderly rehabilitation training， a lower limb exoskeleton rehabilitation robot was designed. Cross swing lower limbs were derived by power source to simulate human normal gait walking for whole coordinated movement. The forward-inverse kinematics of the lower limbs exoskeleton robot were analyzed in this paper， and the kinematics simulation was carried out in ADAMS. The simulation results were consisted 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. 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 machining accuracy of parts and assembly accuracy. The reference and parameter were provided in this study for further improving of the dynamics performance and the influencing factors of the rehabilitation robot.

Key words:rehabilitation;exoskeleton robot;ADAMS simulation;kinematics;dynamictest

CLC：R496;TP242