| 陈 鹍,刘启栋,王人成,贾晓红,胡 伟.一种减重步行训练机器人的研制[J].中国康复医学杂志,2011,26(9):847~851 |
| 一种减重步行训练机器人的研制 点此下载全文 |
| 陈 鹍 刘启栋 王人成 贾晓红 胡 伟 |
| 清华大学摩擦学国家重点实验室智能与生物机械分室，北京100084 |
| 基金项目：“863”计划资助项目（2008AA040203） |
| DOI： |
| 摘要点击次数: 2549 |
| 全文下载次数: 2857 |
| 摘要： |
| 摘要
目的：研制可用于患者进行减重步行康复训练的机器人。
方法：采用外骨骼机械腿和竖直随动支撑作为主要的机械结构，并设计了相应的控制系统。
结果：研制出了一台减重步行训练机器人样机，该机能提供主动、被动等多种训练模式，并能根据患者的体型进行相应的调整。
结论：测试实验初步说明了该机器人能满足临床训练的要求，为进一步的实验研究奠定了基础。 |
| 关键词：减重步行训练 机器人 机械结构 控制系统 |
| Development of a body weight-support gait training robot Download Fulltext |
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| Division of Intelligent and Biomechanical System, State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084 |
| Fund Project: |
| Abstract: |
| Abstract
Objective:To develop a kind of robot for patients' body weight-support gait training.
Method:Two mechanical exoskeleton legs and a vertical slave support,as well as a control system were included in this robot.
Result:A robot prototype was developed, which was adjustable, could provide different training modes of active and passive movements and could be adjusted according to the patients' bodily form.
Conclusion:Preliminary tests show that this robot can meet the requirements of clinical training and provide the base for further study. |
| Keywords:body weight-support gait training robot mechanical structure control system |
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