一种外骨骼式康复机器人训练效果仿真
Simulation on the Training Effect of an Exoskeletal Rehabilitation Robot

针对外骨骼式下肢康复机器人训练有效性的问题，开展了基于人体生物力学软件AnyBody 的康复训练仿真 实验研究．通过人体动作捕捉实验，获取一成年男子在正常步行时的运动学信息，利用AnyBody 建立人体步行模 型，并以下肢肌肉受力情况为依据确定下肢主要肌肉群．建立人-机系统模型，借助Hill 方程，以人体下肢肌肉收缩 速率作为判断标准，通过模拟实现矢状面内运动的外骨骼式下肢康复机器人的康复运动，获取下肢主要肌肉的收缩 速率变化情况，并将其与正常步行时的肌肉收缩速率进行比较与分析．结果表明，两种情况下大腿肌肉群的收缩速 率变化情况基本一致，小腿与髋部肌肉群差异较明显．改进外骨骼结构，使其能够同时实现在冠状面内的运动，比 较在两种结构下的下肢主要肌肉收缩速率变化情况，结果表明髋部肌肉产生了较为明显的波动．因此，能实现矢状 面内运动的外骨骼式下肢康复机器人能够有效训练大腿肌肉群，但对小腿与髋部肌肉的训练效果不明显，加入冠状 面运动后，能提高对髋部肌肉的训练效果．
In order to evaluate the effectiveness of exoskeletal rehabilitation robot for lower limbs’ training，the simulation research on rehabilitation training based on AnyBody was developed．The kinematics of an adult in normal walking was obtained by motion capture experiment．Then the human walking model and the human-machine model were established in AnyBody．Main muscle groups were determined on the forced conditions about the lower limb muscles．By Hill equations，muscle contraction velocity was used as criterion. Through the simulation of the movement about the lower limb exoskeletal rehabilitation robot in the sagittal plane，the contraction velocities of cardinal muscles in lower limbs were obtained and they were compared in both simulation system and normal walking．Results show that the changing trend of thigh muscles was found similar in both cases，but the trend of shank and hip muscles was visibly different．As the structure of the exoskeletal rehabilitation robot was improved to achieve the movement in coronal plane，and by comparing the contraction velocities of cardinal muscles in two structures，the results show that the changing trend of hip muscles was obviously fluctuating．Therefore，the exoskeletal rehabilitation robot that achieves the movement in sagittal plane can train thigh muscles effectively，but lack effect on shank and hip muscles．By changing the exoskeleton structure through adding movement in coronal plane，the traning effect of hip muscles is improved