适应人体重心起伏的悬吊减重康复系统设计

王创; 陈文杰; 陈伟海; 孙先涛; 林岩

doi:10.13700/j.bh.1001-5965.2022.0605

适应人体重心起伏的悬吊减重康复系统设计

doi: 10.13700/j.bh.1001-5965.2022.0605

王创¹,
陈文杰^{1, 2, ,},
陈伟海³,
孙先涛^{1, 2},
林岩³

1.
安徽大学电气工程与自动化学院，合肥 230601
2.
安徽大学安徽省人机共融系统与智能装备工程实验室，合肥 230601
3.
北京航空航天大学自动化科学与电气工程学院，北京 100191

基金项目: 国家自然科学基金面上项目(51975002)

详细信息

通讯作者:
E-mail：wjchen@ahu.edu.cn

中图分类号: TP242
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- 被引次数: 0
出版历程
- 收稿日期: 2022-07-09
- 录用日期: 2022-11-18
- 网络出版日期: 2022-11-29
- 整期出版日期: 2024-07-18

Design of suspension weight-support rehabilitation system adapted to fluctuation of human center of gravity

WANG Chuang¹,
CHEN Wenjie^{1, 2
, ,},
CHEN Weihai³,
SUN Xiantao^{1, 2},
LIN Yan³

1.
School of Electrical Engineering and Automation，Anhui University ，Hefei 230601 ，China
2.
Anhui Engineering Laboratory of Human-Robot Collaboration System and Intelligent Equipment，Anhui University，Hefei 230601，China
3.
School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

Funds: The General Program of National Natural Science Foundation of China (51975002)

More Information

Corresponding author: E-mail：wjchen@ahu.edu.cn

摘要

摘要:
减重系统对下肢疾病患者的行走康复训练有重要影响。现有的下肢康复外骨骼减重装置大多只考虑如何减去患者体重的百分比，而忽略了患者身体重心的起伏。由于外骨骼的骨盆支架在竖直方向运动轨迹固定，患者步态的微小变化就会导致重心高度与骨盆支架运动轨迹不符，这一差异会作用到患者的骨盆位置，影响下肢关节的活动，并产生额外的风险。针对这一问题，提出通过采集足底压力来预测重心位置变化，并利用获得的重心轨迹解算出应施加的减重力方法，为患者训练提供安全有效的减重系统。所提方法的可行性已获仿真证实，并在研发的外骨骼减重系统上获得实际验证，模糊控制器跟踪重心轨迹的误差相比PID控制减少了21.2%，稳态误差维持在±1 mm范围内，髋膝关节的活动范围相比常规减重分别增加了14.36%和13.77%。
- 下肢外骨骼 /
- 康复训练 /
- 悬吊减重 /
- 重心起伏 /
- PID控制
Abstract:
The training that patients undergoing lower limb rehabilitation receive in walking is significantly impacted by the body weight support system. Most of the existing lower limb rehabilitation exoskeleton weight support devices only consider how to reduce the percentage of the patient's body weight and ignore the heaving of the patient's center of gravity. Since the pelvic brace of the exoskeleton has a fixed motion trajectory in the vertical direction, small changes in the patient's gait may result in a mismatch between the height of the center of gravity and the motion trajectory of the pelvic brace. This difference can be imposed on the patient's pelvic position, affecting the movement of the lower limb joints and creating additional risks. To solve this problem, plantar pressure was collected to predict the change of center of gravity position, and the obtained center of gravity trajectory was used to calculate the support force that should be applied, so as to provide safe and effective weight reduction for patient training. The feasibility of this method has been verified by simulation and practical verification of the developed exoskeleton support system. When using conventional body weight support, the fuzzy controller’s error in tracking the trajectory of the center of gravity is reduced by 21.2% compared to PID control, the steady-state error is maintained within a 1 mm range, and the range of motion of the hip and knee is increased by 14.36% and 13.77%, respectively.
- lower limb exoskeleton /
- rehabilitation training /
- suspension weight support /
- fluctuation of center of gravity /
- PID control

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图 1 下肢康复外骨骼总体构成

Figure 1. Overall composition of lower limb rehabilitation exoskeleton

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图 2 外骨骼助行腿简化结构

Figure 2. Simplified structure of exoskeleton walking legs

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图 3 人体等效质量模型

Figure 3. Human equivalent mass model

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图 4 足底压力传感器

Figure 4. Plantar pressure sensor

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图 5 竖直方向COG轨迹拟合曲线

Figure 5. Vertical COG trajectory fitting curve

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图 6 PID控制的减重系统

Figure 6. PID controlled weight support system

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图 7 PID控制20%和40%卸载力时重心变化

Figure 7. PID controls gravity center change at 20% and 40% unloading force

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图 8 模糊PID控制器

Figure 8. Fuzzy PID controller

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图 9 模糊PID控制20%和40%卸载力时重心变化

Figure 9. Fuzzy PID control of gravity center change at 20% and 40% unloading force

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图 10 20%和40%减重效果下跟踪误差

Figure 10. Tracking error for 20% and 40% weight support effect

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图 11 步态减重实验过程

Figure 11. Gait weight support experiment process

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图 12 常规减重时受试者双腿髋膝关节变化

Figure 12. Subjects' legs, hips and knees changed during routine weight support

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图 13 受试者1在2种步速下实验结果

Figure 13. Experimental results of subject 1 at two sets of walking speeds

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图 14 受试者2在2种步速下实验结果

Figure 14. Experimental results of subject 2 at two sets of walking speeds

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图 15 受试者3在2种步速下实验结果

Figure 15. Experimental results of subject 3 at two sets of walking speeds

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表 1 PID模糊规则

Table 1. PID fuzzy rule

e	e_c
e	NB	NM	NS	ZO	PS	PM	PB
NB	PB\NB\PS	PB\NB\NS	PM\NM\NB	PM\NM\NB	PS\NS\NB	ZO\ZO\NM	ZO\ZO\PS
NM	PB\NB\PS	PB\NB\NS	PM\NM\NB	PS\NS\NM	PS\NS\NM	ZO\ZO\NS	NS\ZO\ZO
NS	PM\NB\ZO	PM\NM\NS	PM\NS\NM	PS\NS\NM	ZO\ZO\NS	NS\PS\NS	NS\PS\ZO
ZO	PM\NM\ZO	PM\NM\NS	PS\NS\NS	ZO\ZO\ZO	NS\PS\NS	NM\PM\NS	NM\PM\ZO
PS	PS\NM\ZO	PS\NS\ZO	ZO\ZO\ZO	NS\PS\ZO	NS\PS\ZO	NM\PM\ZO	NM\PB\ZO
PM	PS\ZO\PB	ZO\ZO\NS	NS\PS\PS	NM\PS\PS	NM\PM\PS	NM\PB\PS	NB\PB\PB
PB	ZO\ZO\PB	ZO\ZO\PM	NM\PS\PM	NM\PM\PS	NM\PM\PS	NB\PB\PS	NB\PB\PB

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表 2 受试者身体指标

Table 2. Subject physical indicators

性别	年龄/岁	身高/cm	体重/kg	腿长/cm
男	25	175	62	95
女	24	165	53	88
男	27	183	72	97

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表 3 0.6 m/s步速下2种控制方式误差对比

Table 3. Error comparison of two control modes at 0.6 m/s (°)

受试者	PID控制		模糊控制
受试者	髋关节	膝关节	髋关节	膝关节
1	1.4105	3.7834	1.7395	3.1093
2	1.5154	2.6942	0.8095	0.9070
3	1.4226	3.7847	1.8142	3.2301

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表 4 1.0 m/s步速下2种控制方式误差对比

Table 4. Error comparison of two control modes at 1.0 m/s (°)

受试者	PID控制		模糊控制
受试者	髋关节	膝关节	髋关节	膝关节
1	3.6020	7.0256	3.3919	6.4750
2	3.6042	6.9877	3.3995	6.4245
3	3.5544	7.0721	3.3667	6.5273

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