自动化学报2016，Vol.42Issue(12)：1808-1818,11.DOI:10.16383/j.aas.2016.c160171
肢体协调运动康复机器人的机构设计与实验
Mechanism Design and Experiment of Rehabilitation Training Robot for Coordinated Movement of Upper and Lower Limbs
摘要
Abstract
Owing to the lack of clinic rehabilitation training equipment for coordinated movement, a rehabilitation robot for upper and lower limbs coordination movement is developed, which is suitable for individualized training of hemiplegia patients. Firstly, the regularity of human shoulder and knee angle coordination movement is identified as a design objective based on normal gait of coordination movement of upper and lower limbs. Then, the rehabilitation training mechanism and the main or auxiliary drive chain based on a five-bar metamorphic mechanism are designed, and kinematic analysis of training mechanism is carried out. Finally, tests on the prototype are carried out, and the results show that the robot can achieve the design goal.关键词
康复机器人/上下肢协调运动/偏瘫患者/机构设计Key words
Rehabilitation training robot/coordinated movement of upper and lower limbs/hemiplegic patients/mech-anism design引用本文复制引用
姜礼杰,陈进,王良诣,侯言旭,王勇..肢体协调运动康复机器人的机构设计与实验[J].自动化学报,2016,42(12):1808-1818,11.基金项目
国家自然科学基金(41076061),科技型中小企业技术创新基金(11C26213402042)资助Supported by National Natural Science Foundation of China (41076061), Innovation Fund For Small Technology Based Firms (11C26213402042) （41076061）
