俯卧式脊柱康复训练仪运动学建模与分析-《中国医学物理学杂志》

文章信息/Info

Title:: Kinematics modeling and analysis of prone spine rehabilitation training instrument

Author(s):: Kinematics modeling and analysis of prone spine rehabilitation training instrument; School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Keywords:: Keywords: spine rehabilitation training instrument; Denavit-Hartenberg method; crawling training; kinematics modeling; Matlab simulation

摘要:: 为了改善现有脊柱康复训练设备的功能单一、结构复杂、训练模式不合理的现状。本研究通过对人体爬行运动进行建模，实现新型智能脊柱康复训练仪的设计。用Denavit-Hartenberg法对爬行训练仪进行运动学建模，得到其正逆运动学方程。使用MATLAB建模软件在预设康复轨迹下进行运动学仿真实验，对运动学求解进行验证。实验结果表明，脊柱康复训练仪能在预定轨迹下按爬行训练的要求运动，验证了脊柱康复训练仪结构设计的合理性。同时，由机械把手位置信息通过逆运动学方程计算得到的各关节的角度误差最大不大于3°，验证了所得运动学方程的有效性。

Abstract:: Abstract: In order to solve the problems of simple function, complex structure and unreasonable training mode of the existing spine rehabilitation training equipment, a novel intelligent spine rehabilitation training instrument realized by modeling human crawling movements is designed in the study. The kinematics modeling of the crawling training instrument is carried out by Denavit-Hartenberg method, and its forward and inverse kinematics equations are obtained. The kinematics simulation experiment is carried out under the preset rehabilitation trajectory using MATLAB modeling software to verify the kinematics solutions. The experimental results show that the spine rehabilitation training instrument can move according to the requirements of crawling training under the predetermined trajectory, which verifies the rationality of the structural design of the spine rehabilitation training instrument. Meanwhile, the angular error of each joint calculated by the inverse kinematics equation from the position information of the mechanical handle is no more than 3°, which verifies the validity of the obtained kinematic equations.