Trajectory planning of lower limb rehabilitation action for cable-driven rehabilitation robots
参考中译:缆索驱动康复机器人肢体康复动作的轨迹规划


          

刊名：Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science
作者：Li, Yang（Qufu Normal Univ）
Cao, Dianguo（Qufu Normal Univ）
Wang, Jinqiang（Qufu Normal Univ）
Wu, Yuqiang（Qufu Normal Univ）
刊号：780C0002-C
ISSN：0954-4062
出版年：2023
年卷期：2023, vol.237, no.9
页码：2171-2183
总页数：13
分类号：TH11
关键词：Cable-driven rehabilitation robot；lower limb rehabilitation actions；medical robots；trajectory planning；kinematics；DEVICE；DESIGN
参考中译：缆绳驱动康复机器人；下肢康复动作；医用机器人；轨迹规划；运动学；装置；设计
语种：eng
文摘：In view of the problem that the current research rarely pays attention to the planning of actual rehabilitation actions, a trajectory planning strategy of the lower limb rehabilitation actions for cable-driven rehabilitation robots (CDRRs) is presented in this paper. First, the inverse kinematics model and forward kinematics model of the patient's lower limb meeting the needs of rehabilitation training were established. Then, a direct solution method based on space geometry was proposed according to the state and constraints of the patient. The mapping from the patient's lower limb end point trajectory to the patient's lower leg trajectory was realized by the above two ways. Finally, considering of the movement of the winders, the inverse kinematics model of the reconfigurable CDRR was derived. Through a reasonable cable distribution, patient's lower leg was regarded as the mobile platform of the CDRR, and the mapping between the ankle joint trajectory of the patient's lower limb and the cable length change of the CDRR was finally realized. Taking flexion knee joint rehabilitation action as an example, it is shown that this trajectory planning strategy can plan the trajectory of the required rehabilitation action in a three-dimensional space in the simulation and experimental results.
参考中译：针对目前研究较少关注实际康复动作规划的问题，提出了一种绳索驱动康复机器人(CDRR)肢体康复动作的轨迹规划策略。首先建立了满足康复训练需要的患者S肢体的逆运动学模型和正运动学模型。然后，根据患者的状态和约束条件，提出了一种基于空间几何的直接求解方法。通过以上两种方式实现了患者“S肢体终点轨迹到患者”S小腿轨迹的映射。最后，考虑络筒机的运动，建立了可重构CDRR的逆运动学模型。通过合理的缆线布置，将患者S小腿作为CDRR的活动平台，最终实现患者S小腿的踝关节轨迹与CDRR缆线长度变化的映射。以屈膝关节康复动作为例，仿真和实验结果表明，该轨迹规划策略能够在三维空间中规划出所需康复动作的轨迹。



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