一种轮椅式下肢助行机器人的设计及运动学仿真分析

关键词：助行机器人  下肢助行  MATLAB仿真

Keywords:walking aid robot  lower limb walking aid  MATLAB simulation

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。

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.