白大鹏,张立勋,于彦春.一种轮椅式下肢助行机器人的设计及运动学仿真分析[J].中国康复医学杂志,2010,25(12):1176~1178 |
一种轮椅式下肢助行机器人的设计及运动学仿真分析 点此下载全文 |
白大鹏 张立勋 于彦春 |
哈尔滨工程大学机电工程学院703所,150001 |
基金项目:863项目(2008AA040203) |
DOI: |
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摘要: |
摘要
目的:设计一种轮椅式下肢助行机器人,以协助下肢患者进行日常的助行康复训练。
方法:利用升降机构和腿部助力机构来完成对下肢患者的助行康复训练,并通过MATLAB软件对腿部助力机构进行了运动学仿真分析。
结果:仿真结果表明,在腿部助力机构的带动下,患者腿部的运动规律符合正常人行走时的步态特征曲线。
结论:证明了机构设计的合理性,可以用于下肢患者的助行训练。 |
关键词:助行机器人 下肢助行 MATLAB仿真 |
A design of lower limb walking aid robot with wheelchair style and its MATLAB simulation Download Fulltext |
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College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin,150001 |
Fund Project: |
Abstract: |
Abstract
Objective: To design a lower limb walking aid robot with wheelchair style for helping patients with lower limb disabilities to take daily walking aid rehabilitative training.
Method:Walking aid rehabilitative training was realized by lifter and power-assisted mechanism of lower limbs. The analysis of kinematics simulation was carried out on power-assisted mechanism of lower limbs by using MATLAB software.
Result: The results of simulation showed that the motion law of patients′ lower limbs was according with the gait characteristic curve of normal walking by taking the power-assisted mechanism of lower limbs.
Conclusion: The rationality of mechanism design was proved. And it can be used for walking aid rehabilitative training. |
Keywords:walking aid robot lower limb walking aid MATLAB simulation |
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