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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design, Analysis, and Multicriteria Optimization of an Overground Pediatric Robotic Gait Trainer
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Design, Analysis, and Multicriteria Optimization of an Overground Pediatric Robotic Gait Trainer

机译：地面儿科机器人步态训练器的设计，分析和多准则优化

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摘要

Robotic gait training has been gathering much attention and has demonstrated potential to improve walking patterns for children with cerebral palsy. This paper proposes a novel pediatric robotic overground gait trainer (Pro-GaiT) based on a nonanthropomorphic linkage design and walking frame. The robot configuration is a 2 degree-of-freedom 5 bar linkage “end effector” and considers the human as part of the kinematic chain. This permits the user to move relative to the robot, inherently handling joint misalignments (unlike exoskeletons), to simplify clinical application while still allowing various gait patterns to be accurately achieved. To successfully achieve this complex motion, the kinematic design is critically analyzed to ensure that desired motion and forces can be imparted on the user. A thorough design analysis is conducted, and a genetic algorithm is used to optimize the robot configuration in terms of workspace, singularities, and physical size of the robot. The device was experimentally validated with four healthy subjects, as well as with clinical data from three children with CP that walk with crouch gait with varying human–robot misalignment and joint spasticity. The results demonstrate that the Pro-GaiT has achieved the desired clinical specifications.
机译：机器人的步态训练引起了广泛的关注，并已显示出改善脑瘫儿童步行方式的潜力。本文提出了一种基于非拟人化连杆设计和行走框架的新型儿科机器人地面步态训练器（Pro-GaiT）。机器人配置为2自由度5连杆机构“末端执行器”，并将人视为运动链的一部分。这允许用户相对于机器人运动，固有地处理关节错位（与外骨骼不同），以简化临床应用，同时仍可准确实现各种步态模式。为了成功实现这种复杂的运动，必须严格分析运动学设计，以确保可以将所需的运动和力传递给用户。进行了彻底的设计分析，并使用遗传算法从机器人的工作空间，奇异性和物理尺寸方面优化了机器人的配置。该设备已通过四个健康受试者的实验验证，并获得了来自三名患有CP的儿童的临床数据，这些儿童在蹲伏步态下行走，人机不对和关节痉挛程度各不相同。结果表明Pro-GaiT已达到所需的临床规格。

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