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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:
摘要点击次数: 2090
全文下载次数: 1801
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
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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