华侨大学学报（自然科学版）2017，Vol.38Issue(4)：452-456,5.DOI:10.11830/ISSN.1000-5013.201704003
下肢外骨骼康复机器人设计及其运动学分析
Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot
摘要
Abstract
A rehabilitation device of human lower limb exoskeleton is designed for walking aids and rehabilitation training using the way of motor drive.By establishing the D-H (Denavit-Hartenberg) model of lower limb exoskeleton,the coordinate equations of hip joint,knee joint and ankle joint are derived.The kinematics simulation of lower limb exoskeleton is performed under the ADAMS environment.The coordinate curves of hip,knee and ankle joints are analyzed.The results show that the joints of the lower limb exoskeleton have a continuous trajectory in space.关键词
下肢外骨骼/五杆机构/运动学方程/D-H模型/仿真分析/ADAMS软件Key words
lower limb exoskeleton/five-bar mechanism/kinematics equation/D-H model/simulation analysis/ADAMS software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,韩瑞琪..下肢外骨骼康复机器人设计及其运动学分析[J].华侨大学学报（自然科学版）,2017,38(4):452-456,5.基金项目
陕西省科技计划资助项目(2013K07-08) （2013K07-08）
