Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (5): 1558-1566.doi: 10.13229/j.cnki.jdxbgxb20180982

Previous Articles    

Mechanical structure design and optimization of weight-support STS rehabilitation training system

En-guo CAO1(),Kun LIU2(),Shuo JI2,Zhen-yuan SUN2,Hong-wei XU2,Xing-ji LUO2   

  1. 1. School of Design, Jiangnan University, Wuxi 214122, China
    2. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
  • Received:2018-09-25 Online:2019-09-01 Published:2019-09-11
  • Contact: Kun LIU E-mail:nguocao@jiangnan.edu.cn;kunliu@jlu.edu.cn

RICH HTML

 8   

PDF (PC)

133

Abstract:

Based on ergonomics, this paper designs and optimizes a multi-functional training machine structure for sitting-to-standing (STS) exercise and rehabilitation, which enables patients to carry out weight-loss rehabilitation training according to the track of the healthy body. The structure of lower extremity orthodontic exoskeleton and the top dumbbell spiral winding wheel were designed. The mechanical analysis and dimension optimization of the whole mechanical structure and main components were carried out. Users with lower extremity dyskinesia can get STS exercise assistance, and perform lower extremity muscle rehabilitation training according to the correct exercise plan of healthy people when they stand up, that avoids muscular abnormal exertion caused by the distortion of standing posture, thus obtaining safe and healthy rehabilitation.

Key words: mechanical design, STS rehabilitation training, structure optimization, weight support

CLC Number: 

  • TN122

Fig.1

Mechanical structure of STS rehabilitation training"

Table 1

Detailed list of components in structure"

序号 部件名称 序号 部件名称
1 顶吊装置 11 移动支撑杆
2 支撑斜梁 12 可刹车万向轮
3 支撑细杆 13 底座横梁
4 支架内管 14 下肢外骨骼
5 主控传动箱 15 梯形轨架结构
6 支撑外杆 16 第一横梁
7 扶手横梁 17 一号皮带
8 定位滑块 18 三通件
9 扶手支架 19 第二横梁
10 底座主梁 20 紧固螺钉

Fig.2

MATLAB simulation curve and stereogram of spindle structure"

Fig.3

Finite element analysis of spindle structure"

Fig.4

Pentagonal structural diagram of trapezoidal support during standing"

Fig.5

Static analysis result of initial design welding structure"

Fig.6

results of optimization and improvement of static analysis of design suppository structure"

Table 2

Optimization analysis results of mechanical structure design"

机械结构设计 编号 连接关系+杆件选取值 杆件壁厚/mm 最大位移/mm 最大应力/MPa 质量/kg
最初设计方案 1 焊接+自定值 5 43.39 462.3 44.51
改进优化方案 改进方案 2 焊接+工字梁及双斜拉管自定值 工字梁 12;梯形支架 3;其余 5 16.01 254.2 74.18
3 栓接+工字梁及双斜拉管自定值 工字梁 10;梯形支架 2.5;其余 4.5 19.56 315.1 64.19
优化方案 4 栓接+工字梁及单斜拉管自定值 工字梁 8;梯形支架 2;其余 4.5 19.46 323.7 58.88
5 栓接+工字梁及单斜拉管迭代优化值

工字梁 5.375;前伸顶梁 2;顶部支撑管 2;

三角形圆管 7.877;斜拉管 2.835;梯形支架 1;

底架方管 2.5;底架横梁 10

 20.00 322.7 40.82

Fig.7

Design optimization process of mechanical structure quality change line graph"

1 Huffman K D ， Sanford B A ， Zucker-Levin A R ， et al . Increased hip abduction in high body mass index subjects during sit-to-stand[J]. Gait & Posture， 2015， 41(2): 640-645.
2 Tannous H , Istrate D , Tho M C H B , et al . Serious game and functional rehabilitation for the lower limbs[J]. European Research in Telemedicine, 2016, 5(2): 65-69.
3 Wu J , Gao J , Song R , et al . The design and control of a 3DOF lower limb rehabilitation robot[J]. Mechatronics, 2016, 33: 13-22.
4 Mohanta J K , Mohan S , Deepasundar P , et al . Development and control of a new sitting-type lower limb rehabilitation robot[J/OL]. [2017-09-13]. https:⫽
5 Kamnik R , Bajd T . Human voluntary activity integration in the control of a standing-up rehabilitation robot：a simulation study[J]. Medical Engineering & Physics, 2007, 29(9): 1019-1029.
6 王志强 . 站立康复功能辅助机器人系统的控制及其关键技术研究[D]. 哈尔滨: 哈尔滨工业大学机电工程学院, 2014.
Wang Zhi-qiang . Control of the rehabilitative standing-up robot system for sit-to-stand motion and research on ker technology[D]. Harbin: School of Mechatronics Engineering， Harbin Institute of Technology, 2014.
7 Nuzik S , Lamb R , VanSant A , et al . Sit-to-stand movement pattern: A kinematic study[J]. Physical Therapy, 1986, 66(11): 1708-1713.
8 Wang T , Jeong H , Watanabe M , et al . Fault classification with discriminant analysis during sit-to-stand movement assisted by a nursing care robot[J]. Mechanical Systems & Signal Processing, 2018, 113: 90-101.
9 Gama G L , Celestino M L , Barela J A , et al . Effects of gait training with body weight support on a treadmill vs. overground for individuals with stroke[J]. Archives of Physical Medicine & Rehabilitation, 2017, 98(4): 738-745.
10 GB/T10000—1988. 中国成年人人体尺寸[S].
11 Yang T , Zhang W , Huang Q , et al . A smooth and efficient gait planning for humanoids based on human ZMP[J]. Robot, 2017, 39(5): 751-758.
12 刘坤, 叶明, 李超, 等 . 臂式站起运动康复训练机械结构设计及分析[J]. 吉林大学学报： 工学版， 2016, 46(5): 1532-1539.
Liu Kun , Ye Ming , Li Chao , et al . Design and analysis of an arm mechanical structure for sit-to-stand rehabilitation training[J]. Journal of Jilin University (Engineering and Technology Edition)， 2016, 46(5): 1532-1539.
[1] Cheng YANG,Yong⁃sheng ZHAO,Zhi⁃feng LIU,Li⁃gang CAI. Stiffness model of bolted joint based on multi⁃scale theory [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1212-1220.
[2] Kun LIU,Shuo JI,Zhen⁃yuan SUN,Hong⁃wei XU,Yong LIU,Jing⁃xia ZHAO. Mechanical structure design and optimization of multifunctional auxiliary toilet wheelchair [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 872-880.
[3] Xing⁃ye WANG,Jin⁃qiu ZHANG,Guo⁃qiang LI,Zhi⁃zhao PENG. Influence of inertial mass on rack and pinion actuator′s damping characteristic [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 881-887.
[4] Jia⁃xu WANG,Xiao⁃kang NI,Yan⁃feng HAN,Guo XIANG,Ke XIAO. Numerical model of mixed lubrication for microgroove bearing considering axial reciprocating motion [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 888-896.
[5] BI Qiu-shi,WANG Guo-qiang,HUANG Ting-ting,MAO Rui,LU Yan-peng. Tooth strength analysis of mineral sizer by coupling discrete element method and finite element method [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1770-1776.
[6] ZHU Wei,WANG Chuan-wei,GU Kai-rong,SHEN Hui-ping,XU Ke,WANG Yuan. Stiffness and dynamics analysis of a new type of tensegrity parallel mechanism [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1777-1786.
[7] LIU Jian-fang, WANG Ji-bo, LIU Guo-jun, LI Xin-bo, LIANG Shi-hai, YANG Zhi-gang. PMMA micromixer embedded with 3D channel based on piezoelectric actuation [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1500-1507.
[8] WANG Tao, SAN Xiao-gang, GAO Shi-jie, WANG Hui-xian, WANG Jing, NI Ying-xue. Dynamic characteristics of vertical shaft system of photoelectric turntable [J]. 吉林大学学报(工学版), 2018, 48(4): 1099-1105.
[9] LIU Kun, LIU Yong, YAN Jian-chao, JI Shuo, SUN Zhen-yuan, XU Hong-wei. Dynamic analysis of sit-to-stand human motion based on in vitro-sensor detection [J]. 吉林大学学报(工学版), 2018, 48(4): 1140-1146.
[10] LUAN Xin, DENG Wei, CHENG Lin, CHEN Xin-yuan. Mixed Logit model for understanding travel mode choice behavior of megalopolitan residents [J]. 吉林大学学报(工学版), 2018, 48(4): 1029-1036.
[11] YOSHINO Tatsuo, FAN Lu-lu, YAN Lei, XU Tao, LIN Ye, GUO Gui-kai. Multiobjective optimization design for dummy chest structure based on MBNWS algorithm [J]. 吉林大学学报(工学版), 2018, 48(4): 1133-1139.
[12] HE Ji-lin, CHEN Yi-long, WU Kang, ZHAO Yu-ming, WANG Zhi-jie, CHEN Zhi-wei. Energy flow analysis of crane hoisting system and experiment of potential energy recovery system [J]. 吉林大学学报(工学版), 2018, 48(4): 1106-1113.
[13] XIE Chuan-liu, TANG Fang-ping, SUN Dan-dan, ZHANG Wen-peng, XIA Ye, DUAN Xiao-hui. Model experimental analysis of pressure pulsation in vertical mixed-flow pump system [J]. 吉林大学学报(工学版), 2018, 48(4): 1114-1123.
[14] SUN Xiu-rong, DONG Shi-min, WANG Hong-bo, LI Wei-cheng, SUN Liang. Comparison of multistage simulation models of entire sucker rod with spatial buckling in tubing [J]. 吉林大学学报(工学版), 2018, 48(4): 1124-1132.
[15] LIU Zhi-feng, ZHAO Dai-hong, WANG Yu-mo, HUN Lian-ming, ZHAO Yong-sheng, DONG Xiang-min. Relationship between bearing capacity of heavy machine hydrostatic rotary table and temperature field distribution of oil pad [J]. 吉林大学学报(工学版), 2018, 48(3): 773-780.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd