基于绳驱与SEA的肘关节柔性外骨骼设计与分析

Design and Analysis of a Flexible Exoskeleton for the Elbow Joint Based on Rope Drive and SEA

摘要: 脑卒中患者常伴有上肢运动障碍，对其进行及时、有效的康复训练，在一定程度上可重建患者上肢与受损中枢神经间的联系，提高患者的运动能力。传统刚性驱动的外骨骼机器人结构笨重，影响便携性，且无法有效应对外部冲击，降低了人机交互的安全性和舒适性。针对肘关节运动功能障碍，本文设计了一款基于绳驱与串联弹性驱动器(SEA)的肘关节外骨骼，旨在提高康复训练的效率和患者主动参与度。该外骨骼采用轻量化、小型化设计，通过动力学与运动学建模确保系统高效、安全。研究结果表明，该肘关节外骨骼能够满足康复训练中肘关节屈曲与伸展运动的需求，且通过控制SEA输出力矩，实现对外骨骼运动的实时控制，对提升康复训练效果具有重要意义。

Abstract: Stroke patients frequently suffer from upper limb movement problems. Timely and effective rehabilitation training can help repair the link between the injured upper limb and the damaged central nervous system, improving the patient’s motor abilities. Traditional rigidly driven exoskeleton robots are heavy, which limits their mobility and capacity to efficiently control external impacts, lowering the safety and comfort of human-computer interaction. To address elbow joint movement dysfunction, we designed an elbow exoskeleton based on rope-driven and series elastic actuator (SEA) technology. This lightweight and miniaturized exoskeleton ensures system efficiency and safety through dynamic and kinematic modeling. The results indicate that the elbow exoskeleton meets the requirements for elbow flexion and extension during rehabilitation training. By controlling the SEA output torque, real-time control of exoskeleton movement is achieved, which is of great significance for improving the effectiveness of rehabilitation training.