طراحي ربات برون پوش حامي گام زدن براي توانبخشي افراد كم توان حركتي

Design of an exoskeleton robot for rehabilitation of people with movement disabilities

در اين مقاله طرحي از يك ربات اسكلت خارجي پايين تنه، بمنظور حمايت از افراد كم توان در فرآيند راه رفتن ارايه شده است. نخست مدل مفهومي ربات ارايه شده , سپس مدل ديناميكي از سيستم مكانيكي ربات براي اندام پايين تنه ارايه شده است. بمنظور شبيه سازي ديناميكي، مدل از كتيا به محيط سيم مكانيكز منتقل شده است؛ در محيط شبيه سازي اطلاعات سيستم اعمال شده و فرآيند كامل گام زدن در يك سيكل حركتي شبيه سازي گرديده است؛ در ادامه به طراحي يك كنترلر تلفيقي براي سيستم پرداخته ايم. در انتهاي فرآيند نيروها و گشتاورهاي مفصلي وارد بر ربات محاسبه گرديده اند.

In the nearly six decades, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. In addition, the main part in usage of these robots in the medical sciences and particularly for the rehabilitation, specially disabled and elderly people is to help them to do their basic routine activities like walking, sitting and etc. This article represents the design process of a lower limb exoskeleton robot for helping disable people in gait cycle. First, the conceptual design of 7 Degrees of Freedom (DoFs) robot, consist of 3-DoFs in each leg and 1-DoF in hip joint, is presented. Then the dynamic modeling of mechanical system is shown by Lagrange Method. In addition to producing an optimized mechanical model of the exoskeleton, it was necessary to ensure the strength of each component. So that after the force analyzing of the robot components which are designed for the lower limb extremities, the physical output information of the modeling software (CATIA) is used as the dynamic model input and also in order to obtain motion equation in the gait cycle always needed to choose an appropriate coordinate for simulating closer to reality. In continuation of discussion a combined controller is designed to investigate its performance. Finally the system results are shown the maximum torque of 1st joint is 32 N.m, the 2nd joint is 13 N.m and the 3rd joint is 3 N.m. The maximum torques lead to select the suitable actuator for each link of robot.