面向康复工程的助行可穿戴外骨骼机器人的人类工效学设计

中国社会正在逐渐进入老龄化,肢体残疾人群数也在不断增加,这逐渐加剧了我国康复专业人才的供需矛盾。为了缓解该矛盾,针对下肢运动功能完全或部分丧失的偏瘫及截瘫患者,设计了PRMI助行外骨骼机器人。该外骨骼系统对其穿戴者提供运动补偿以帮助其自然和有效地独立行走。介绍了PRMI助行外骨骼机器人设计目的。通过对外骨骼的人类工效学设计的分析,对PRMI外骨骼的可调范围、关节的运动范围、最大力矩、运动学上的一致性以及人机交互进行了介绍。

Ergonomic Considerations in Design of Wearable Exoskeleton to Aid Walking

Because of the growing population aging and large number of physically disable population in china,the contradiction between supply and demand of rehabilitation professionals in china is gradually growing.In order to resolve this contradiction,the PRMI exoskeleton robot was designed for hemiplegia and paraplegia patients,who lost partially or completely their motor functions of the lower extremity.The exoskeleton system provides motion compensation to its wearer to aid walking.This paper introduced the design of PRMI assist exoskeleton robot objectives.Through analysis of ergonomic consideration in design of the PRMI wearable exoskeleton,several ergonomic aspects were presented in this paper,including the adjustable range,joint range of motion,the maximum torque,the kinematics of consistency and human-computer interaction.