摘要
Abstract
Study a kind of suitable for lower limb rehabilitation robot running machine speed adaptive control method .According to the human body in the sagittal plane walking direction hip fixed on the characteristics of the robot system ,adopt pull pressure sensor to detect human movement trend ,in the speed controller based on nonlinear gain automatic setting velocity transformation quantity.According to this principle ,design a set of force measuring device ,through the physical prototype verify its feasibility . The experimental results show that this control method can meet the running machine speed with adaptive requirements .关键词
下肢康复机器人/跑步机/速度自适应/控制方法Key words
lower limb rehabilitation robot/treadmill/speed adaptive/control method分类
信息技术与安全科学
