面向踝部康复的广义球面并联机构型综合

针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。     

A model of human knee ligaments in the sagittal plane. Part 1: Response to passive flexion.

The development of a mathematical model of the knee ligaments in the sagittal plane is presented. Essential features of the model are (a) the representation of selected cruciate ligament fibres as isometric links in a kinematic mechanism that controls passive knee flexion and (b) the mapping of all other ligament fibres between attachments on the tibia and femur. Fibres slacken and tighten as the ligament attachment areas on the bones move relative to each other. The model is used to study the shape and fibre length changes of the cruciate and collateral ligaments in response to passive flexion/extension of the knee. The model ligament shape and fibre length changes compare well qualitatively with experimental results reported in the literature. The results suggest that when designing and implanting a ligament replacement with the aim of reproducing the natural fibre strain patterns, the surgeon must not only implant through the natural attachment areas but must also maintain the natural fibre mapping and render all fibres just tight at the appropriate flexion angle.     

一种所有转轴均连续的五自由度混联机器人机构

根据两转一移并联机构两转动自由度转轴的分布,提出构造五自由度混联机器人机构构型的新思路,基于2-RPU&UPR并联机构构造一种新型五轴混联机器人机构。建立2-RPU&UPR并联机构的位置正反解模型,由于该并联部分存在两条连续转轴,可将其等效成一个三自由度串联机构RPR,进而将整个混联机器人机构等效为一个四自由度串联机构RPRR和一个移动平台的组合进行分析,根据这两部分位姿之间的解耦性,建立了混联机器人完整的位置正反解模型,并用加工球面轨迹的算例验证了所建运动学模型的正确性。提出的5自由度混联机器人所有转动自由度均具有连续转轴,能够得到解析的位置模型表达式,能够很容易实现轨迹规划与运动控制,具有良好的应用前景。     

A purpose-built dynamometer to objectively measure static and dynamic knee torque

This paper reports the development of a purpose-built knee dynamometer (PBKD) to evaluate passive range of motion (ROM) and isometric muscle strength measurements of the knee. The PBKD uses a TorqSense rotary torque transducer and objectively measures isometric knee muscle strength in a valid and reliable manner and passive resistance to motion through range. The device and all associated instrumentation underwent dynamic and static calibration to ensure consistent and accurate measurements were obtained in terms of knee joint angular position, passive torque measures, and isometric torque measures. Eleven healthy male participants performed a knee flexion and extension task designed to evaluate knee function. The validation of the PBKD entailed measuring the consistency of measurement and accuracy of measurement. Accuracy of the PBKD was determined by comparing peak isometric muscle strength measurements against a KIN-COM machine. No significant differences were observed both passively and isometrically between cycles and between trials. This device can have widespread applications within the rehabilitation and clinical environment and could be used as a functional outcome measuring tool to distinguish pathological from non-pathological knees. The presented preliminary results indicate that reliable and accurate measurements of knee ROM and muscle strength can be obtained.     

双足机器人腿部新构型设计与试验研究

探究高动态性能双足机器人对腿部设计的要求,阐明机器人腿部设计准则、设计方案和实现措施。提出一种腿部串并联新构型方案,膝关节驱动器上移到髋关节,踝关节驱动器上移到膝关节,膝关节驱动器通过简化五连杆机构将运动传递到膝部,踝关节驱动器通过并联四连杆机构将运动传递到踝部。对踝关节并联机构和整个腿部关节进行运动学正逆解,建立新构型机器人的仿真模型。考虑运动控制算法,完成机器人动力学仿真。测试准直驱驱动器性能,并完成串并联构型腿部样机试验验证,机器人可实现0.4m/s的行走速度。结果表明,提出的腿部串并联新构型与传统串联构型比具有更高的运动性能,新构型机器人性能在真机测试中得到验证。该串并联新构型方案在双足机器人和其它服务机器人领域具有广阔的应用前景。     

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.     

基于变胞铰链的并联机构结构设计与构型分析

为了拓展变胞机构的种类,提出了一种变胞运动单元,该变胞单元采用三个旋转关节,并且三个旋转关节可以通过位置调节形成等效球铰、虎克铰以及转动副。与传统的锁定运动副来实现变胞功能的变胞单元相比,此变胞单元三种构型的切换只需对轴线位置调整,无需额外增加关节锁死电机。通过研究由线矢量构成的螺旋系统的相关性,揭示了变胞运动单元构态变化的基本原理。提出了可用于构造新型变胞并联机构的支链构型设计方法,并基于螺旋的互易性分析了各支链构型所必须满足的几何约束条件。提出了两种变胞并联机构,通过不同的支链装配形式可将其从6自由度构型转换为3自由度构型,并对支链安装形式进行改进,构造出了具有3自由度平移模式和3自由度转动模式的并联机构。对变胞支链作为中心支链组装而成的并联机构的构型及对应的运动类型进行了分析,获得了六种不同构型的并联机构。     

智能假肢膝关节的优化设计及运动学分析

智能假肢膝关节是一种代偿下肢缺失功能的机械电子装置,可以采用双摇杆机构实现对假肢膝关节运动特性的模拟。针对假肢膝关节行走过程中能量消耗过大、稳定性较差的问题,以假肢膝关节机构峰值驱动力矩最小为优化目标,建立了优化模型;在满足性能与结构的约束条件下,运用复合形法对该模型进行优化求解,得到了假肢膝关节机构的最佳结构参数;在此基础上,利用ADAMS软件进行了虚拟运动仿真。结果表明:优化后的智能假肢膝关节具有优良的仿生性能,其峰值驱动力矩相比优化前降低了40%,驱动力矩变化范围缩小36%,大大地提升了智能假肢膝关节的稳定性与续航能力。     

Studies about the use of semicircular beams as hinges in large deflection planar compliant mechanisms

Conventional hinge designs in planar compliant mechanisms have a limited deformation range because of the high stresses induced during deflection. To improve the range of motion of these mechanisms, hinges that allow for large displacement are highly desirable. This paper explores the use of curved beams as large displacement hinges in planar compliant mechanisms. To facilitate design, analytic expressions that predict deflections under different types of loads are introduced. These expressions are used in pseudo rigid link models of compliant mechanism designs. Predictions made by the analytic expressions are compared with the results of FEA simulations. To validate the proposed models, two planar compliant mechanism designs were prepared and experimental measurements of deflections under loads were made. Overall, results showed that analytic models and FEA predictions lie within 10% of experimental data for the planar mechanism geometry in which pseudo rigid motion models apply. FEA models of the second case, a more complex mechanism, make predictions that lie within 15% of experimental measurements. Results and ways to improve accuracy of models and designs are discussed at the end of the article.     

Design of a robust self-excited biped walking mechanism

A self-excited biped walking mechanism consisting of two legs that are connected in a series at the hip joint through a servomotor is studied to determine range of stability. A torque proportional to angle between the shank and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting the forward motion like the human knee. While a torque proportional to the angle between the shank and the vertical stabilises, the optimum proportionality constant is to be determined. A mathematical model for the dynamics of the system including the impact equations is used to analyze the stability of the system through examination of phase plane plots. For a specified proportionality constant, the range of physical parameters like leg-length and mass of leg for which the system is stable is determined. Using the stability data, a robust design has been made.     

双摇杆假肢膝关节的运动学与动力学分析

膝关节是人体正常运动的重要部位.为了满足下肢截肢患者恢复正常运动功能的需求,设计了一款双摇杆机构的假肢膝关节.首先,建立了下假肢的简化模型,通过对模型的运动学分析,获得了相关关节角度、角速度、角加速度等参数.通过动态静力分析法对双摇杆的各个杆件进行动力学分析,最终得到输出阻尼力与驱动力矩之间的平衡方程.通过Adams仿...     

Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation

When a linear actuator is used for rotation motion by a knee joint of an exoskeleton, the specifications of the joint range of motion (ROM) and joint torque change according to how the linear actuator are attached. Moreover, while the linear actuator generates a constant amount of force, the joint torque generated by the actuator changes according to the joint angle, which causes the torque contraction. This makes it difficult to meet the required torque and ROM for walk and stand-to-sit and sit-to-stand (STS) motions while carrying a load. To solve these problems we propose a novel knee joint for an exoskeleton with good energy efficiency during walk and STS motions while carrying a load. The mechanism is composed of a four-bar linkage and an elastic element. Based on an analysis of human motion, the design variables of the joint were optimized and the feasibility of the optimized variables was verified through the simulation. The findings from the simulation results suggest that combining a four-bar linkage with a linear actuator allows a large ROM and good torque performance of the knee joint for walk and STS motions. Moreover, the energy efficiency can be improved because the spring mounted parallel to the actuator can store the energy dissipated as negative work and recycle the energy as positive work.     

A joint normalcy index to evaluate patients with gait pathologies in the functional aspects of joint mobility

Gait analysis using 3D motion capture systems provides joint kinematic and kinetic analysis results such as joint relative angles and moments that can be use used to evaluate the degrees of pathological gait patterns. However, the complex data produced using these 3D motion capture systems can only analyzed by experts, because the gait analysis is highly coupled to the kinematics of each joint. Therefore, several Several previous studies using gait analysis have relied on the data compression technique to represent gait deviation from the average normal profiles as a single value. Even though it is important to evaluate gait pathologies at the joint level, all these previous studies have just used a single value to evaluate the pathological gait pattern. Using just one variable for evaluation of a gait is limited in terms of determining which joint movement patterns are getting better during rehabilitation. Therefore, in this study, a method suitable for evaluating gait deviation during a gait was developed to provide three indices for the hip, knee and ankle joints. In addition, to validate the proposed method in clinical cases, experimental tests were conducted on thirty thirty-six normal walkers and six patients with cerebral palsy. Furthermore, to validate the proposed method in regards to rehabilitation, experimental tests were conducted on three classified walking groups with imposed ankle equinus constraints. The JNI for the hip joint, knee joint and ankle were 8.78 (±3.70), 2.92 (±3.25) and 8.79 (±4.38), respectively, in the normal walking group. However, these values were significantly different for the pathological walking group with cerebral palsy. The JNI of the hip joint, knee joint and ankle joint were 203.73 (±171.59), 81.23 (±52.13) and 248.39 (±149.99), respectively, for this group. There were also differences between any two of the three classified groups with imposed ankle equinus constraints. In particular, the JNI of the ankle joint was statistically different at the p<0.01 level, and this parameter clearly increased as the degree of the imposed ankle equinus was increased. These results demonstrate that the proposed JNI can be used as a scalar factor to evaluate the angular deviation of each joint in normal and patient groups. In addition, this approach can be adapted to evaluate rehabilitation and pre/post surgery.     

3自由度气动串联机械手的关节控制

3自由度气动机械手属关节串联式机器人,机械手在运动过程中,转动惯量、重力矩及关节间的耦合力矩等参数都会发生较大变化,影响了机械手末端的运动精度。针对这些问题,利用拉格朗日方程对机械手3关节进行动力学分析,得到多关节联动时单关节力矩方程。以腰部关节为例,通过对关节动力机构的数学模型线性化处理,采用状态反馈极点配置方法进行控制器设计,试验表明具有一定鲁棒性,但存在一定静态误差。分析产生误差的原因主要是干扰力矩的影响,根据单关节规划路径通过动力学模型得到补偿力矩,利用输入前馈对关节实施动态补偿。试验验证了方法的有效性,从结果可以看出,该组合控制策略抑制了扰动,提高了轨迹跟踪精度。     

Isometry in mechanism designIsometrie in der getriebesynthese

Isometric designs are those that carry the same linear dimensions. Unique specification of the motion requirements of a mechanism between skew axes, with the help of a suitable set of conventions, removes all alternative designs isometric to the original mechanism, with one exception: an isometric design satisfying exactly the same motion requirements is available but with the algebraic sign of the axis distance changed. The transformation is one of reflection and is called an opposite isometry. Extending the use of unique specification of motion requirements to the special case of two-position design with identical specification of motion derivatives at the two positions (as in the case of a crank-rocker design), one is left with an alternative isometric design, without change of sign of axis distance. The device consists of a change of direction of motion of the mechanism, coupled with an interchange of mechanism positions that correspond to the two distinct positions on the curve of motion relationship. There is, in this case, what is called a direct isometry. The two transformations are shown to be useful: (i) in reducing the extent of design cataloguing, and (ii) in reducing the area of search for suitable mechanism designs.     

新型过约束球面并联式关节机构仿生设计

以3-RRR三自由度球面并联机构为原型,在其静力学及刚度特性分析基础之上,从仿生学角度出发,采用植入中心球面副的方式,提出了两种改进的可应用于人形机器人肩关节、髋关节的过约束四支链仿生关节机构,并实现了静力全部或部分卸载及刚度均衡。对引入的机构中心球面副进行结构改进,大幅扩大了机构实际工作空间。新型仿生关节机构的提出及其结构设计对人形机器人关节的研制具有理论指导意义和实际应用价值。     

The variation in the orientations and moment arms of the knee extensor and flexor muscle tendons with increasing muscle force: a mathematical analysis

The orientations and moment arms of the knee extensor and flexor muscle tendons are evaluated with increasing values of muscle force during simulated isometric exercises. A four-bar linkage model of the knee in the sagittal plane was used to define the motion of the joint in the unloaded state during 0-120 degrees flexion. The cruciate and collateral ligaments were represented by arrays of elastic fibres, which were recruited sequentially under load or remained buckled when slack. A bi-articular model of the patello-femoral joint was used. Simple straight-line representation was used for the lines of action of the forces transmitted by the model muscle tendons. The effects of tissue deformation with increasing muscle force were considered. During quadriceps contraction resisted by an external flexing load, the maximum change in moment arm of the patellar tendon was found to be 2 per cent at 0 degree flexion when the quadriceps force was increased tenfold, from 250 to 2500 N. The corresponding maximum change in orientation of the tendon was 3 degrees at 120 degrees flexion. During hamstrings contraction resisted by an external extending load, the maximum change in moment arm of the hamstrings tendon was 8 per cent at 60 degrees flexion when the hamstrings force was increased tenfold, from 100 to 1000 N. During gastrocnemious contraction, the corresponding maximum change for the gastrocnemious tendon was 3 per cent at 0 degree. The orientations of the flexor muscle tendons in this range of force either remained constant or changed by 1 degree or less at any flexion angle. The general trend at any flexion angle was that, as the muscle force was increased, the moment arms and the orientations approached nearly constant values, showing asymptotic behaviour. It is concluded that experimental simulations of knee muscle action with low values of the externally applied load, of the order of 50 N, can provide reliable estimates of the relationships between muscle forces and external loads during activity.     

腱传动仿人手指机构的设计与分析

为了解决仿人多自由度手指机构结构复杂的问题,提出了一种基于欠驱动原理的腱传动机构,介绍了该机构的具体实现方法,主要包括手指结构设计、关节及其转角分析、扭簧设计、电机功率计算、位置/力传感器选择和自动控制系统设计等内容,在对三维模型进行分析的基础上,设计制造出了一个手指实物模型.运动试验结果表明,该手指实物模型具有结构简单的特点,能够通过弯曲和张开动作实现物体抓取.