东北大学学报(自然科学版) ›› 2025, Vol. 46 ›› Issue (2): 64-75.DOI: 10.12068/j.issn.1005-3026.2025.20230232

• 机械工程 • 上一篇    下一篇

肘腕4-DOF冗余康复外骨骼构型综合方法

单泉, 黄建聪(), 张顺, 陈砚   

  1. 东北大学秦皇岛分校 控制工程学院,河北 秦皇岛 066004
  • 收稿日期:2023-08-06 出版日期:2025-02-15 发布日期:2025-05-20
  • 通讯作者: 黄建聪
  • 作者简介:单 泉(1977—),男,江西赣州人,东北大学秦皇岛分校副教授.

Configuration Synthesis Method of Elbow & Wrist 4-DOF Redundant Rehabilitation Exoskeleton

Quan SHAN, Jian-cong HUANG(), Shun ZHANG, Yan CHEN   

  1. School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China.
  • Received:2023-08-06 Online:2025-02-15 Published:2025-05-20
  • Contact: Jian-cong HUANG

摘要:

针对外骨骼康复机器人与人体之间轴线错位而导致的不兼容等问题,提出了一种冗余康复外骨骼的构型综合方法.首先,通过全局静力条件确定冗余运动副的数目,并利用几何分析减少冗余运动副类型组合的数目;其次,基于用户舒适度考虑了可能的冗余运动副轴线组合并选择了合适的组合方式;接着,结合工程约束考虑冗余运动副的可能位置排列并确定最优位置排列;最后,通过分析冗余运动副的运动,确定外骨骼和人体的位置和姿态.结果表明,在不同的轴线错位情况下,最优构型使外骨骼与人体能够实现相同的位置和姿态,有效克服了运动学不兼容性问题.

关键词: 人机相容性, 机构合成, 人机闭链, 外骨骼机器人

Abstract:

To address issues such as incompatibility caused by axis misalignment between rehabilitation robots’ exoskeletons and the human body, a configuration synthesis method for redundant rehabilitation exoskeletons was proposed. Firstly, the number of redundant motion pairs was determined through global static conditions, and geometric analysis was used to reduce the number of combinations of redundant motion pair types. Secondly, based on user comfort, possible redundant motion pair axis combinations were considered and appropriate combination modes were selected. Next, the possible position arrangement of redundant motion pairs was considered to determine the optimal position arrangement based on engineering constraints.Finally, the motion of redundant motion pairs was analyzed to determine the position and posture of the exoskeleton and human body. The results indicated that the optimal configuration can achieve the same position and posture between the exoskeleton and the human body under different axes misalignment conditions, effectively overcoming the problem of kinematic incompatibility.

Key words: human-robot compatibility, mechanism synthesis, human-machine closed loop, exoskeleton robot

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