文章摘要

文章信息/Info

Title:: Study on synchronous moving pedal type rehabilitation training walker

作者:: 曲春鸽1; 邹任玲1△; 刘二宁1; 项林1; 卢旭华2; 1.上海理工大学医疗器械与食品学院，上海 200093； 2.第二军医大学附属上海长征医院骨科，上海 200003

Author(s):: QU Chunge1; ZOU Renling1; LIU Erning1; XIANG Lin1; LU Xuhua2; 1.School of Medical Instrument and Food Engineering,University of Shanghai for Science and Technology，Shanghai 200093，China；2.Department of Orthopaedic Surgery,Changzheng Hospital,Shanghai 200093

Keywords:: Pedal gait trainer; Linkage device; Movement function; Motion simulation; System control

摘要:: 为了克服常规踏板式步态训练器缺少移动性，无法配合患者的行动意愿。本研究研制了一种实现同步移动功能的踏板式康复训练助行器。采用SolidWorks2019对助行器进行三维建模，分别对支承减重车、踏板式步态康复训练器以及联动装置部分进行设计。联动装置与步态训练器的脚踏板和支承减重车的后车轮连接，通过脚踏板改变后轮的运动状态，后轮与脚踏板同步运动。使用Motion模块对助行器运动仿真，给脚踏板设定一个步态轨迹，求解了助行器脚踏板驱动小齿轮和后轮的角速度。结果表明，脚踏板驱动小齿轮和后轮角速度曲线有同步性，且光滑无尖点。训练器后轮角速度输出稳定，无较大震动及卡死情况，联动装置设计合理，实现了踏板式康复助行器的同步移动功能。

Abstract:: To overcome the general pedal gait trainer lacks mobility，unable to match the patient’s willingness to move. We proposed a pedal type rehabilitation training walker to realize synchronous movement.We used SolidWorks 2019 to carry out three-dimensional modeling of the walker,and designed the supporting weight-loss vehicle,pedal type gait rehabilitation training device and linkage device respectively.The linkage device was connected with the foot pedal of the gait trainer and the rear wheel supported the weight-loss vehicle, the movement state of the rear wheel was changed through the foot pedal, the rear wheel and the foot pedal moved synchronously.The Motion module was used to simulate the motion of the walker,a gait trajectory was setted to the foot pedal,and the angular velocity of the driving pinion and rear wheel of the foot pedal.The results showed that the foot pedal driving pinion gear and the rear wheel angular velocity curve were synchronized, smooth without sharp points. The output of the rear wheel angular velocity is stable, no large vibration and stuck situation.The design of the linkage device is reasonable,can realize the synchronous movement function of the pedal-type rehabilitation walker.