可定制穿戴式下肢康复助力外骨骼机器人模块化设计研究

At present, there are about 16 million stroke patients in China, and the rate of disability in the stroke patients is as high as 75%. Exercise rehabilitation is very important for the recovery and improvement of motor function of stroke patients. Thus, this project is focused on wearable robotic exoskeleton for lower limb rehabilitation and assistance and consisted of three major work packges which are expected to address some critical issues of wearable robotic exoskeleton engineering. First, this project proposed a work package on modular design methodologies of customized wearable robotic exoskeleton for enhanced adaptability to different user properties and rehabiliation and assisting tasks. Then, focused on the core functional components of the modular exoskeleton-joints and actuators, this project then proposed a work package on configuration and scale synthesis and integrated design of compliant joint actuators for safety and movement stability improvements. Then, with considerations of both potential benefits and drawbacks of introducing elastic elements to exoskeleton efficiency, this project will move on to study the energy consumption mechanism and energy efficiency optimization of lower limb exoskeleton with multi-compliant joint actuators. Finally yet importantly, both modular joint actuators and full-set exoskeleton prototypes are to be developed and tested for verification of our research outcomes. The results of this research can not only solve some of the key engineering problems of rehabilitation exoskeleton for stroke patients, but also help formalizing the design method of lower extremity exoskeletons and provides methodological and technical support to exoskeleton engineering in application fields of loaded operation and entertainment.

目前我国脑卒中患者达1600万，致残率达75%，轻者造成运动障碍，重者造成偏瘫，严重影响正常生活。运动康复对恢复和改善脑卒中患者的运动功能非常重要。本研究以下肢康复助力外骨骼机器人为研究对象，针对人-机相容和功能适用目标，研究需求驱动的下肢外骨骼模块化和参数驱动定制设计方法；针对安全性、稳定性和效率目标，研究模块化柔性关节构型尺度综合与一体化设计，继而针对引入柔性关节对外骨骼系统能量行为影响，研究多关节柔性驱动下肢外骨骼的能耗机理和能效优化问题；最后通过样机验证研究成果的有效性。本项目研究成果不仅可以解决中风患者下肢康复和助力辅助运动机器人设计中的关键问题，并通过原型系统研发和应用最终形成下肢可穿戴外骨骼机器人的设计方法和标准，而且可以为负重作业和娱乐等领域的应用展开提供基本方法和基础技术支持。

我国各种疾病、自然灾害、交通事故导致的下肢残障人士数量逐年增加。及时的康复治疗和有效的生活辅助是提高以上患者群体生活质量的关键。然而，我国专业康复照护人才严重短缺，无法满足日益增长的康复照护需求。因此，有必要加快研发智能化康复医疗设备。外骨骼机器人在康复治疗以及行动辅助上有很好的应用前景。本项目针对下肢康复外骨骼应用需求（如个性化配置、穿戴性优化、人机刚柔协同），研究可定制下肢康复助力外骨骼机器人模块化设计方法：1）构建了价值需求驱动的康复外骨骼产品服务系统方案设计方法框架，提出了个性化需求获取与分析、产品本体与生命周期技术服务方案生成、产品服务模块规划方法，并针对三类用户提出了康复外骨骼本体与生命周期技术服务模块化方案；2）提出了下肢外骨骼机器人本体的模块化机电设计方案并研制了样机及功能测试平台。通过静态穿戴性实验和无载动态实验，验证了外骨骼样机穿戴安全性、人机自由度相容性以及被动康复模式下基于步态轨迹的助行功能；3）以人体下肢步态动力学特征为机理依据，提出了下肢康复外骨骼动力关节变刚度策略和机构设计方法，基于结构紧凑性、能耗和可控性分析了不同构型方案适用条件；4）针对康复外骨骼个性化定制中对穿戴者个体情况评估的技术需求，构造了基于多模型集成机器学习的下肢运动功能评估与风险预测智能方法；4）针对康复外骨骼个性化配置方案分析评估需求，提出了基于人机耦合模型、多系统联合仿真的人-机工学与人-机耦合生物力学虚拟实验方法和关键技术。以上研究成果为外骨骼技术应用展开提供基本方法和基础技术支持。