北京生物医学工程

外骨骼型下肢康复机器人柔性关节驱动器的设计及实验研究

Design and experimental research of the flexible joint driver of lower limb rehabilitation exoskeleton robots

作者：王援柱徐飞佀国宁

单位：上海瑞柯恩激光技术有限公司（上海201203）上海理工大学医疗器械与食品学院（上海200093）

关键词：外骨骼；柔性驱动器；结构设计；下肢康复机器人

分类号：R318.04

出版年·卷·期（页码）：2021·40·1（55-61）

摘要：

目的当刚性驱动器直接作用于关节时，由于关节缺少对驱动力的缓冲，容易对其造成损伤。为此，本文拟设计一种柔性关节驱动器，以实现柔性变刚度驱动。方法采用弹簧和扭簧组合实现不同驱动力下驱动器刚度的变化。通过调节电机的转速实现弹簧、扭簧的压缩以及正反向的运动，并确定弹簧及扭簧的参数。最后搭建柔性变刚度关节驱动器实验平台，通过选用不同劲度系数的弹簧、扭簧进行低力、中力和高力模式下的柔性驱动实验，以验证柔性关节驱动器设计的合理性。结果选取弹簧的刚度为、扭簧抗扭刚度为。当驱动力较小时，弹簧压缩，扭簧不发生作用；当驱动力较大时，扭簧扭转，弹簧不发生作用；当驱动力介于二者之间时，弹簧和扭簧同时发生作用。结论柔性关节驱动器能够在不同驱动力作用下使扭簧和弹簧发生作用，实现柔性变刚度驱动的目的。

Objective When a rigid actuator drives the joint directly, it can cause damage to the joint for lack of buffer to the driving force. In this paper, a flexible joint driver is designed and an experimental platform is built to verify the flexible variable stiffness drive. Methods First of all ,by combining springs and torsion springs, we change the drive stiffness under different driving force. Then by changing the speed of the motor, we realize the compression of springs and torsion springs as well as the forward and backward motion, and the parameters of springs and torsion springs are also determined. Finally, we build the experimental platform for flexible variable stiffness joint drivers and carry out flexible driving experiments respectively under low, medium and high force modes with springs and torsional springs whose stiffness coefficients are different so that the rationality of the design of flexible joint drivers is verified. Results The stiffness of the spring is 10 N/mm and the torsional stiffness of the torsion spring is 0.1Nm/rad. When the driving force is small, the spring is compressed while the torsion spring does not work. When the driving force is large, the torsion spring becomes torsional while the spring has no effect. When the driving force falls in between, the spring and the torsion spring act simultaneously. Conclusions The experimental platform of the flexible actuator with springs and torsion springs can make them act under different driving force so that the flexible variable stiffness drive can be achieved.

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