自动化学报2016，Vol.42Issue(12)：1933-1942,10.DOI:10.16383/j.aas.2016.c160180
一种新的康复与代步外骨骼机器人研究
Research of a New Rehabilitation and Assisting Robot
摘要
Abstract
Towards the rehabilitation and training problems of older persons and lower limb disabilities, the paper pro-poses a new robot with lower limb exoskeleton for rehabilitation and walking assistance. The components and mechanical design of the robot are introduced in detail. Through the function combination of lower limb exoskeleton and wheelchair, the robot can help the users to maintain the lower limb movement effectively and provide them with a convenient tools for movement. The pedal-actuated motion training strategy can ensure the safety of users. The master-slave operational mode is put forward with multimodal rehabilitation training process control. Correctness and feasibility of the rehabilitation system are validated by computer simulation and experiment.关键词
康复机器人/外骨骼/机构设计/仿真/实验Key words
Rehabilitation robot/exoskeleton/mechanical design/master-slave operational flow/simulation引用本文复制引用
黄高,张伟民,Marco Ceccarelli,余张国,陈学超,孟非,黄强..一种新的康复与代步外骨骼机器人研究[J].自动化学报,2016,42(12):1933-1942,10.基金项目
国家高技术研究发展计划(863计划)(2014AA041602,2015AA042305,2015AA043202),国家自然科学基金(61320106012,61375103,61533004,61273348,61321002,61673069),国际科技支撑计划(2015BAF13B01,2015BAK35B01),北京市科技计划项目(D161100003066002, Z161100003116081),国家111引智计划(B08043)Supported by National High Technology Research and Devel-opment Program of China (863 Program)(2014AA041602,2015AA042305,2015AA043202), National Natural Sci-ence Foundation of China (61320106012,61375103,61533004,61273348,61321002,61673069), Key Technolo-gies Research and Development Program (2015BAF13B01,2015BAK35B01), Beijing Municipal Science and Technology Project (D161100003066002, Z161100003116081), the National“111” Project (B08043) （863计划）
