机械科学与技术2017，Vol.36Issue(5)：697-703,7.DOI:10.13433/j.cnki.1003-8728.2017.0507
一种下肢外骨骼助行康复机器人及康复评价方法
Lower Extremity Exoskeleton Rehabilitation Robot and Rehabilitation Evaluation Method
摘要
Abstract
To meet the demands of rehabilitation training for patients with lower limb paralysis,a lower extremity exoskeleton rehabilitation robot is designed.The composition of the designed robot is described and the kinematics analysis of the robot mechanism is conducted.Based on the joint angular displacements,a closed loop control system was designed.As a reference input information,while the subject is walking or walking up and down the stairs with the exoskeleton,the movement of the lower-extremity's joint ankles during normal human walking is acquired by the VICON motion capture system.With the commissioned system,the gait data of normal human is compared with that captured by using the VICON motion capture system and the control algorithm is verified.In addition,the range of motion with perception (RMP) is defined.Training experiments are conducted on the patient with the rehabilitation exoskeleton,which proves the effectiveness of the designed rehabilitation robot.关键词
机器人/闭环控制系统/传递函数/RMPKey words
closed loop control systems/transfer function/RMP分类
信息技术与安全科学引用本文复制引用
宁萌,罗超,马泽峰,张秋菊,王琨..一种下肢外骨骼助行康复机器人及康复评价方法[J].机械科学与技术,2017,36(5):697-703,7.基金项目
中央高校基本科研业务费专项资金项目(JUSRP11718)、江苏省自然科学基金青年基金项目(BK20160185)及江苏省食品先进制造装备技术重点实验室开放课题(江南大学)项目资助 （JUSRP11718）
