Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology
为解决目前针对骨科术后患者的下肢康复机器人种类少且交互性弱等问题，该文设计了一种基于人体动力学建模和拉压力传感器实现人机交互的新型坐卧式下肢康复机器人。该系统通过实时监测人机交互力，调整髋关节、膝关节、踝 关节训练角度，验证建立的数学模型，对比实际采集的关节角度，得出数学模型在 Matlab 拟合和 Adams 仿真中力矩变化趋势相同，且最大均方差不超过 0.81N/m，实验对比完全被动和智能被动状态的关节角度有明显调整，证明该系统提升了患者的主动参与性。
In order to improve the current problems of lower limb rehabilitation robots for patients after orthopedic surgery, such as limited types and weak interaction, a new type of sitting and lying lower limb rehabilitation robot based on human dynamics modeling and tension and pressure sensors to achieve human-computer interaction is designed. The system adjusts the training angle of the hip, knee and ankle joints based on real-time monitoring of human-computer interaction, verifies the established mathematical model and compares the actual collected joint angles, and concludes that the mathematical model has the same trend of torque changes in Matlab fitting and Adams simulation, and the maximum average variance does not exceed 0.81N/m. The experimental comparison of the joint angles of the fully passive and intelligent passive states has been significantly adjusted, which proves that the system increases the patient’s active participation.