طراحی ربات برون‌پوش حامی گام‌زدن برای توانبخشی افراد کم‌توان حرکتی

در این مقاله طرحی از یک ربات اسکلت خارجی پایین تنه، بمنظور حمایت از افراد کم توان در فرآیند راه رفتن ارائه شده است. نخست مدل مفهومی ربات ارائه شده , سپس مدل دینامیکی از سیستم مکانیکی ربات برای اندام پایین تنه ارائه شده است. بمنظور شبیه‌سازی دینامیکی، مدل از کتیا به محیط سیم‌مکانیکز منتقل شده است؛ در محیط شبیه سازی اطلاعات سیستم اعمال شده و فرآیند کامل گام‌زدن در یک سیکل حرکتی شبیه‌سازی گردیده است؛ در ادامه به طراحی یک کنترلر تلفیقی برای سیستم پرداخته ایم. در انتهای فرآیند نیروها و گشتاورهای مفصلی وارد بر ربات محاسبه گردیده‌اند.

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

In the nearly six decades, exoskeletons have progressed from the stuff of science fiction tonearly commercialized products. While there are still many challenges associated withexoskeleton development, the advances in the field have been enormous. In addition, the mainpart 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 likewalking, sitting and etc. This article represents the design process of a lower limb exoskeletonrobot for helping disable people in gait cycle. First, the conceptual design of 7 Degrees ofFreedom (DoFs) robot, consist of 3DoFs in each leg and 1DoF in hip joint, is presented.Then the dynamic modeling of mechanical system is shown by Lagrange Method. In additionto producing an optimized mechanical model of the exoskeleton, it was necessary to ensurethe strength of each components. So that after the force analyzing of the robot componentswhich are designed for the lower limb extremities, the physical output information of themodeling software (CATIA) is used as the dynamic model input and also in order to obtainmotion equation in the gait cycle always needed to choose an appropriate coordinate forsimulating closer to reality. In continuation of discussion a combined controller is designed toinvestigate its performance. Finally, the system results are shown the maximum torque of 1stjoint is 32 N.m, the 2nd joint is 13 N.m and the 3rd joint is 3 N.m. The maximum torques leadto select the suitable actuator for each link of robot.