Trajectory Optimization of Lower Extremity Rehabilitation Robots Based on Cycloid

Cui Bingyan; Zeng Hongtai; Yang Zhongyuan; Gui Xiaogeng; Li He; Wang Jingwei

doi:10.16578/j.issn.1004.2539.2024.01.011

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Trajectory Optimization of Lower Extremity Rehabilitation Robots Based on Cycloid

Design· Calculation | 更新时间：2024-12-13

- Trajectory Optimization of Lower Extremity Rehabilitation Robots Based on Cycloid
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 75-81(2024)
- 作者机构：
  
  华北理工大学机械工程学院，河北唐山 063210
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.011
  CLC：
- Published：15 January 2024，
  
  Received：26 October 2022，
  
  Revised：06 February 2023，
- 稿件说明：
移动端阅览
崔冰艳,曾鸿泰,杨中原等.基于摆线的下肢康复机器人轨迹优化[J].机械传动,2024,48(01):75-81.

Cui Bingyan,Zeng Hongtai,Yang Zhongyuan,et al.Trajectory Optimization of Lower Extremity Rehabilitation Robots Based on Cycloid[J].Journal of Mechanical Transmission,2024,48(01):75-81.
崔冰艳,曾鸿泰,杨中原等.基于摆线的下肢康复机器人轨迹优化[J].机械传动,2024,48(01):75-81. DOI： 10.16578/j.issn.1004.2539.2024.01.011.

Cui Bingyan,Zeng Hongtai,Yang Zhongyuan,et al.Trajectory Optimization of Lower Extremity Rehabilitation Robots Based on Cycloid[J].Journal of Mechanical Transmission,2024,48(01):75-81. DOI： 10.16578/j.issn.1004.2539.2024.01.011.

摘要

随着现代机器人学和医疗行业的迅速发展，使用康复机器人对下肢运动损伤患者进行治疗成为国内外研究热点之一。为实现更好的康复治疗效果，对一种3自由度下肢康复机器人开展轨迹规划研究，模拟健康踝关节运动规律，对下肢康复机器人的运动轨迹进行了优化设计。基于踝关节的康复、损伤机制和运动形式，对比分析几种少自由度平面对称并联机构，确定了以2UU-UPU机构为康复执行机构的设计原型；对下肢康复机器人开展下肢康复训练的轨迹规划研究，推导了摆线运动规律、叠加摆线运动规律的轨迹规划运动公式，并验证了在不同康复训练条件下轨迹的合理性；为探究更合理的康复轨迹，使用光学动作捕捉系统采集坐姿状态下踝关节的运动轨迹，建立康复轨迹约束条件，提高了规划轨迹与人体动作的相似度，可实现更好的康复效果。

Abstract

With the rapid development of modern robotics and medical industry

the use of rehabilitation robots for the treatment of patients with lower limb sports injuries has become one of the research hotspots at home and abroad. In order to achieve better rehabilitation treatment effect

trajectory planning of a three-degree-of-freedom lower limb rehabilitation robot is studied

and the motion law of healthy ankle joint is simulated to optimize the trajectory design of the lower limb rehabilitation robot. Based on the rehabilitation

injury mechanism

and motion form of the ankle joint

a comparative analysis of several low degree of freedom planar symmetric parallel mechanisms is conducted

and a design prototype using a 2UU-UPU mechanism as the rehabilitation actuator is determined; research on trajectory planning for lower limb rehabilitation training of lower limb rehabilitation robots

trajectory planning motion formulas for cycloidal motion laws and superimposed cycloidal motion laws are derived

and the rationality of trajectory under different rehabilitation training conditions is verified. In order to further explore a more reasonable rehabilitation trajectory

the optical motion capture system is used to collect the ankle joint movement trajectory in the sitting position

establish the rehabilitation trajectory constraints

improve the similarity between the planned trajectory and the human movement

and achieve better rehabilitation effect.

关键词

康复机器人轨迹规划动作捕捉

Keywords

Rehabilitation robotTrajectory planningMotion capture

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