合肥工业大学校徽

合肥工业大学学报自科版

合肥工业大学学报(自然科学版)

JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY (NATURAL SCIENCE)

主管：中华人民共和国教育部

主办：合肥工业大学

ISSN 1003-5060, CN 34-1083/N

基于差分进化算法下肢康复机构的优化设计

Optimal design of lower extremity rehabilitation mechanism based on differential evolution algorithm

期刊信息

合肥工业大学（自然科学版），2023年9月，第46卷第9期：1153-1159

DOI: 10.3969/j.issn.1003-5060.2023.09.001

作者信息

朱立红，张金龙，仲佳俊，曹宇

（合肥工业大学机械工程学院，安徽合肥230009）

摘要和关键词

摘要: 文章针对基于运动轨迹的单自由度下肢康复机器人存在的足部踏板速度突变问题, 提出一种平面连杆机构尺度综合的优化方法。对下肢康复机构进行运动学分析, 建立正逆解的数学模型, 构建机构的凸轮曲线与足部轨迹的运动学关系; 采用差分进化算法对下肢康复机构进行尺度综合分析, 通过构造优化目标函数优化模型中的各参数, 得到一组机构参数的最优解。优化结果表明, 采用差分进化算法优化后, 可以降低下肢康复机构足部踏板的速度突变, 提高装置的稳定性, 同时保证足部步态轨迹与正常步态轨迹基本重合。研究结果表明, 该优化方法可以为下肢偏瘫患者提供科学的康复训练轨迹, 有助于其康复训练。最后, 文章提出一种基于层次分析法(analytic hierarchy process, AHP)的下肢功能康复评估指标体系, 并建立一种以综合指标为基础的评估方法, 该指标能够真实地反映患者在康复过程中的训练效率, 使康复训练方式的选择更加科学、高效, 更好地满足患者的康复需求。

关键词: 下肢康复机器人；运动学分析；差分进化算法；参数优化

Authors

ZHU Lihong, ZHANG Jinlong, ZHONG Jiajun, CAO Yu

(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China)

Abstract and Keywords

Abstract: This paper proposes an optimization method for dimension synthesis of planar linkage mechanism, aiming at the problem of sudden speed alteration of foot pedals of lower extremity rehabilitation robot which is based on single degree of freedom of motion trajectory. Firstly, kinematic analysis was conducted on the mechanism of lower extremity rehabilitation, mathematical models for both forward and inverse solutions were constructed, and kinematic relationship between cam curve and foot trajectory of the mechanism was formulated. Then, analysis of dimension synthesis on lower extremity rehabilitation mechanism was performed through differential evolution algorithm. Parameters in the model were optimized by constructing optimized objective function, so as to obtain optimal solutions of a set of parameters of mechanism. The optimization results indicated that after optimization though differential evolution algorithm, sudden speed alteration of the foot pedals of lower extremity rehabilitation mechanism was reduced, stability of the equipment was improved, and alignment between the gait trajectory of feet and the normal gait trajectory was mainly coincided. The research results reveal that scientific rehabilitation training trajectory can be provided for patients with lower extremity paralysis, contributing to their rehabilitative training. Finally, an index system for lower extremity functional rehabilitation evaluation based on the analytic hierarchy process (AHP) was proposed, and an evaluation approach based on comprehensive index was established. This index is capable to authentifi

Keywords: lower extremity rehabilitation robot; kinematic analysis; differential evolution algorithm; parameter optimization

基金信息

国家自然科学基金资助项目（51775155）

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