吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (3): 844-850.doi: 10.13229/j.cnki.jdxbgxb201503023

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康复机器人辅助站立人体质心动量测试及模拟

王志强1, 姜洪源1   

  1. 1.哈尔滨工业大学 机电工程学院,哈尔滨 150001;
    2.卢布尔雅那大学 电气学院,卢布尔雅那 1000,斯洛文尼亚
  • 收稿日期:2013-10-14 出版日期:2015-05-01 发布日期:2015-05-01
  • 通讯作者: 姜洪源(1960-),男,教授,博士生导师.研究方向:金属橡胶,微流控以及硬盘驱动器. E-mail:wangzhiqiang299@sina.com
  • 作者简介:王志强(1983-),男,博士研究生.研究方向:康复辅助器械,人机工程.
  • 基金资助:
    国家自然科学基金项目(50575053); 中国与斯洛文尼亚政府间科技项目(9-7)

Experiment and simulation on body center-of-mass momentum during sit-to-stand assisted by rehabilitation robot

WANG Zhi-qiang1, JIANG Hong-yuan1, ROMAN Kamnik2   

  1. 1. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001,China;
    2.Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana 1000, Slovenia
  • Received:2013-10-14 Online:2015-05-01 Published:2015-05-01

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摘要： 为了分析康复机器人辅助站立过程中人体质心动量的变化规律,使用所建模型对机器人辅助站立过程中人体质心轨迹、线性动量和角动量进行了测试。依据拉格朗日方程推导人体质心动量数学模型,并利用辅助平行四边形法确定质心位置。分别对慢速、常速和快速辅助站立时,人体质心轨迹、线性动量及角动量进行了测试,利用所推导数学模型,在Matlab/Simulink中建模并对人体质心动量和轨迹进行了模拟。结果表明:当采用不同辅助站立速度时,康复机器人仍能保持人体平稳地完成站立。通过分析质心水平和垂直动量得出:水平动量是站立稳定性的决定因素,而垂直动量是完成竖直站立的决定因素。模拟值与测试值重合度较好,表明所建模型可实现对质心位置和动量的有效预测,为分析辅助站立的稳定性和康复训练奠定了基础。

关键词: 机械设计, 康复机器人, 辅助站立, 人体质心, 线性与角动量

Abstract: To analyze the change rule of body center-of-mass momentum during sit-to-stand motion assisted by rehabilitation robot, the trajectory and center-of-mass momentum of human body are measured. A mathematical model of the body center-of-mass momentum is derived based on Lagrangian equation. The position of mass center during standing up is obtained by auxiliary parallelogram method. The trajectory and momentum are measured during standing up with low, normal and fast assisting velocities. A simulation model is built up in Matlab/Simulink based on the proposed mathematical model to simulate the trajectory and momentum. The results show that sit-to-stand motion is carried out steadily with different assistant velocities of the robot. Through the analysis of horizontal and vertical peak center-of-mass momentum, it is found that the horizontal momentum is the determinant of the stable standing up motion, and the vertical momentum is the determinant of the complete sit-to-stand process. The simulation and measuring curves fit well, which demonstrates the effectiveness of the proposed model in predicting body position and center-of-mass momentum during sit-to-stand motion. This work provides references for stable standing up analysis and robot assisted rehabilitation.

Key words: machine design, rehabilitative robot, assistive standing-up, mass center of human body, linear and angular momentum

中图分类号: 

  • R496
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