床式步态康复训练系统机构设计

针对现有床式步态康复训练机器人使用不便、成本高昂的问题，提出模块化的床式步态康复训练系统. 包括倾角可调的床体模块、腿部运动辅助机构模块和足底支撑机构模块，模块化设计可以提高其使用方便性，降低制造和使用成本. 为了实现正常的行走步态，腿部运动辅助机构模块采用凸轮-连杆机构模拟大腿和小腿的运动. 建立腿部运动辅助机构的人机耦合模型，并对其进行运动学分析，得到机构与人体下肢的运动学关系，将其作为参数优化和结构设计的基础. 利用MATLAB，以机构对患者个体差异的适应性为目标，对模型中的各参数进行优化，得到一组机构参数的最优解. 实验结果表明，不同身高的实验者髋关节测量角度与标准角度的最大误差不超过5.2°，膝关节最大误差不超过6.7°，验证了机构对实验者个体差异的适应性和使用此系统进行康复训练的可行性.

Mechanical design of bed-type gait rehabilitation training system

A modular bed-type gait rehabilitation training system was proposed aiming at the problem of inconvenience and high cost of existing rehabilitation training robot. The system consists of a bed with adjustable tilt angle, two leg motion auxiliary mechanisms and a foot support mechanism. The modular design can make it easier to use. Cam-connecting rod mechanism was used to simulate the movements of thigh and calf in order to generate normal walking gait. A human-machine coupling model was built and the kinematic analysis was carried out. The kinematic relationship between the mechanism and human lower limbs was obtained as the basis of parameter optimization and structural design. MATLAB was used to optimize the parameters of the model and get their optimal values, aiming at increasing adaptability of the mechanism to the patients with different body types. Experimental results showed that the maximum error of hip angle between the measured result and the standard result was less than 5.2°, the maximum error of knee angle was less than 6.7°, which demonstrated that the presented mechanism can adapt personal difference and it’s feasible to carry out rehabilitation training with this system.