陕西科技大学学报（自然科学版）2016，Vol.34Issue(6)：154-159,6.
人体下肢外骨骼康复机器人的仿真分析
Simulation analysis of human lower limb exoskeleton rehabilitation robot
摘要
Abstract
The kind of device of human lower limb exoskeleton rehabilitation robot is a kind of service robot ,w hich is designed to be used for assisting the life of old people and sufferer , based on the motor drive .By establishing the D‐H mathematical model of human walking posture ,the coordinate equations of hip joint ,knee joint and ankle joint are derived .Under the ADAMS environment ,the simulation results show that the joints of the lower limb exo‐skeleton have a continuous trajectory in space , w hich can meet the motility of the joint movement ,and meet the motion characteristics of the human lower limb .A prototype test platform is set up to test the angle curve which changes with the cycle .The motion trajectory of the lower limb exoskeleton is verified ,and the experimental curves and the simulation curves are basically consistent .关键词
下肢外骨骼/运动学/D-H模型/耦合仿真/ADAMSKey words
lower limb exoskeleton/kinematics/D-H model/coupling simulation/ADAMS分类
信息技术与安全科学引用本文复制引用
夏田,桓茜,陈宇,徐建林..人体下肢外骨骼康复机器人的仿真分析[J].陕西科技大学学报（自然科学版）,2016,34(6):154-159,6.基金项目
陕西省科技厅科技计划项目 （）
