摘要
定期侧翻是长期卧床患者预防压疮的重要护理措施,现有侧翻辅助装置机械式结构刚性较大,未考虑人体侧翻运动机理,充气式存在人体关节转动中心和机构转动中心不一致,易导致患者在侧翻过程中受伤,因此,研究人机运动协同的仰卧位侧翻辅助装置设计具有十分重要的意义。依据人体侧翻运动机理的研究基础,设计了一种由平面连杆机构驱动双支链结构的侧翻辅助装置,主要受力位置为肩部和臀部,通过建立数学模型并推导设计参数,利用图解法分析连杆传动角,同时进行装置的运动学仿真、工作空间分析与人体侧翻重心轨迹提取实验,对整体装置进行运动学图形表征分析。结果表明:辅助人体侧翻角度为30°~45°,该角度范围内人体与双支链接触应力分布较为均匀,有助于预防压疮。机构传动角范围为42.19°~90.00°,该角度范围机构具有良好的传力性能。研究验证了装置设计的合理性,双支链结构能够拟合肩部和臀部的运动过程,提供多段式支撑链接触,避免局部压力集中,符合人-机协同性与人机工程学的康复辅具设计要求,为侧翻康复研究奠定了基础。
Regular turning is a critical nursing measure for preventing pressure ulcers in long-term bedridden patients.Existing mechanical turning-assist devices exhibit excessive structural rigidity without considering human turning biomechanics,while inflatable types demonstrate misalignment between the human joint rotation center and the mechanism rotation centers,potentially causing injuries during turning procedures.Therefore,researching supine turning-assist devices with human-mechanical movement synergy holds significant importance.Based on the research foundation of human turning kinematics,a dual-branch chain turning-assist device driven by a planar linkage mechanism is designed, and the main stress positions are the shoulder and hip regions. The mathematical model is established and the design parameters are deduced. The linkage transmission angle is analyzed using graphical methods, and at the same time, the kinematic simulation of the device, the workspace analysis and the experiments on extraction of the human turning center of gravity trajectory are performed, so as to carry out a kinematics graphic. This comprehensive approach enabled kinematic characterization of the entire device. The results show that the angle of assisting the human body to turning angles of 30°~45°, maintaining uniform contact stress distribution between human body and dual-branch chains, effectively preventing pressure ulcers.. The transmission angles range from 42.19° to 90.00°, and the mechanism has good force transmission efficiency in this angle range. This study verified the rationality of the device design. The dual- branch chain structure can fit the motion process of the shoulder and hip, provide multi-segment support chain contact, prevent localized pressure concentration, and meet the human-machine coordination principles and ergonomic requirements for rehabilitation aids. These findings establish a foundation for turning rehabilitation research and clinical application of assistive devices.
作者
刘征
潘国新
姚鹏震
刘甜
苏鹏
LIU Zheng;PAN Guoxin;YAO Pengzhen;LIU Tian;SU Peng(School of Electromechanical Engineering,Beijing Information Science and Technology University,Beijing 100192,China;National Research Center for Rehabilitation Technical Aids,Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age,Key Laboratory of Neuro-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs,Beijing 100176,China)
出处
《图学学报》
北大核心
2025年第5期1094-1104,共11页
Journal of Graphics
基金
国家自然科学基金(52005045)
民政部康复领域重点实验室及工程技术研究中心运行费项目(102118170090010009004)。
关键词
侧翻辅助
人体重心运动轨迹分析
双支链结构
运动学图形表征分析
机构构型
roll-over assist
human center of gravity trajectory analysis
dual-branched chain structure
kinematic graphical representations analysis
organizational configuration
