长春大学学报（自然科学版）Issue(5)：1224-1229,6.
可穿戴式下肢康复外骨骼机器人步态规划及仿真
Gait Planning and Simulation of Wearable Lower Limbs Rehabilitation Exoskeleton Robot
谢海胜 1陈岱民2
作者信息
- 1. 长春理工大学 机电工程学院，长春 130022
- 2. 长春大学 机械与车辆工程学院，长春 130022
- 折叠
摘要
Abstract
Through analyzing the characteristics and freedom of human lower extremity joints, this paper designs a structure of the wearable lower limbs rehabilitation exoskeleton robot and builds a three-dimensional modeling by solidworks software of CAD. In order to realize the function of the stable walking for the wearable lower limbs rehabilitation exoskeleton robot,it uses the principle of ZMP to plan gait. In the process of planning gait,it gets the smooth trajectory of every joint by cubic spline interpolation, keeping the foot of swinging legs parallel to the ground. Finally, it establishes a virtual prototype of the wearable lower limb rehabilitation exoskeleton robot and makes a simulation in ADAMS software.关键词
可穿戴式下肢康复外骨骼机器人/步态规划/ADAMSKey words
wearable lower limb rehabilitation exoskeleton robot/gait planning/ADAMS分类
信息技术与安全科学引用本文复制引用
谢海胜,陈岱民..可穿戴式下肢康复外骨骼机器人步态规划及仿真[J].长春大学学报（自然科学版）,2013,(5):1224-1229,6.
