下肢康复外骨骼机器人的膝关节人机舒适度优化研究

孙许方; 刘灿奎; 胡茜雯; 付晓莉; 郭梦豪; 马宁宁

doi:10.19554/j.cnki.1001-3563.2025.22.004

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包装工程（设计栏目） ›› 2025, Vol. 46 ›› Issue (22) : 24-35. DOI: 10.19554/j.cnki.1001-3563.2025.22.004

专题：数据与模型融合驱动的产晶设计／制造／服务协同优化

下肢康复外骨骼机器人的膝关节人机舒适度优化研究

孙许方¹, 刘灿奎^1,*, 胡茜雯², 付晓莉¹, 郭梦豪¹, 马宁宁¹

作者信息 +

Human-machine Comfort Optimization Study of Knee Joint with Lower Limb Rehabilitation Exoskeleton Robot

SUN Xufang¹, LIU Cankui^1,*, HU Qianwen², FU Xiaoli¹, GUO Menghao¹, MA Ningning¹

Author information +

文章历史 +

摘要

目的通过设计提升脑卒中患者下肢康复训练的舒适度,增强康复效果和患者的训练体验。方法采用数显尺对患者的膝关节角度和舒适度进行精确测量,结合Jack仿真软件,对患者坐姿状态下的下肢关节受力和整体舒适度进行详细分析。通过实验数据,确定最佳的膝关节运动角度区间及外骨骼机器人的尺寸设计,以实现个体化适配。结果当膝关节运动角度区间在0°~30°时,患者L4/L5脊柱压缩力低于标准值（3 400 N）,躯干弯曲和剪切力低于400 N,且训练姿势等级评分为1级,表明在此角度范围内,患者进行坐姿下肢康复训练时感到最为舒适。结论实验测量与Jack仿真软件的分析结果高度一致,证实了结合人机工程学原理和虚拟仿真技术在确定外骨骼机器人膝关节最佳运动角度方面的有效性。本研究不仅为下肢康复外骨骼机器人的设计提供了科学依据,还为康复训练产品的舒适度设计提供了有效的数据支撑,有助于未来开发更加人性化、高效的康复设备。

Abstract

The work aims to enhance the comfort of lower limb rehabilitation training for stroke patients through design, and to enhance the rehabilitation effect and training experience of patients. The knee joint angle and comfort level of the patients were measured accurately with a digital ruler, and the lower limb joint force and the overall comfort level of the patients in sitting positions were analyzed in detail in combination with Jack simulation software. Through the experimental data, the optimal knee joint movement angle interval and the size design of the exoskeleton robot were determined to achieve individualized adaptation. When the knee motion angle interval was between 0° and 30°, the patients' L4/L5 spinal compression force was lower than the standard value of 3 400 N, the torso bending and shear force was lower than 400 N, and the training posture level score was grade 1, which indicated that the patient felt the most comfortable when performing seated lower limb rehabilitation training in this angle range. The experimental measurements are highly consistent with the analysis results of Jack simulation software, confirming the effectiveness of combining ergonomic principles and virtual simulation technology in determining the optimal motion angle of the knee joint of exoskeleton robots. This study not only provides a scientific basis for the design of exoskeleton robots for lower limb rehabilitation, but also provides effective data support for the comfort design of rehabilitation training products, which will help develop more humanized and efficient rehabilitation equipment in the future.

导出引用1

孙许方, 刘灿奎, 胡茜雯, 付晓莉, 郭梦豪, 马宁宁. 下肢康复外骨骼机器人的膝关节人机舒适度优化研究[J]. 包装工程. 2025, 46(22): 24-35 https://doi.org/10.19554/j.cnki.1001-3563.2025.22.004

SUN Xufang, LIU Cankui, HU Qianwen, FU Xiaoli, GUO Menghao, MA Ningning. Human-machine Comfort Optimization Study of Knee Joint with Lower Limb Rehabilitation Exoskeleton Robot[J]. Packaging Engineering. 2025, 46(22): 24-35 https://doi.org/10.19554/j.cnki.1001-3563.2025.22.004

中图分类号： TB472

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