中国组织工程研究与临床康复2011，Vol.15Issue(30)：5518-5521,4.DOI:10.3969/j.issn.1673-8225.2011.30.003
下肢助力机器人动力学分析与应用
Dynamics analysis and application of the rehabilitation power assist robot for the leg
摘要
Abstract
BACKGROUND: In 2005, the successful production of lower extremity rehabilitation robot system can co-promote the delivery of leg movement through the central control system as well as the gait and attitude control system so as to restore lower limb function.OBJECTIVE: To perform the mechanical analysis of the rehabilitation power assist robot.METHODS: Power assist exoskeleton is a complicated dynamical system composed of many joints and links, and it is a MIMO.Power assist robot dynamics is about the movement-force relationship, and its results of simulation are used to optimize the system. Through motion information perception, the rehabilitation power assist robot provides power for wearer hip joint to acco m plish motion of flexion/extension , abd uction/adduction and internal rotation/external rotation . RESU LTS AND CONCLUSION : The dynamical equation is used to realize the hybrid control. The practitioner can fully completed functional recovery action, with promotion of practicer limb strength and action proficiency, the system gradually reduces the power support until the recovery.关键词
助力机器人/动力学/拉格朗日方程/下肢/康复分类
基础医学引用本文复制引用
陈峰,汤敏,马卫国,刘羡飞..下肢助力机器人动力学分析与应用[J].中国组织工程研究与临床康复,2011,15(30):5518-5521,4.基金项目
国家自然科学基金(61005054,60975064),江苏省高校自然科学研究项目 (09KJD510004),南通市科技项目(K2009032) （61005054,60975064）
