机械与电子2018，Vol.36Issue(3)：55-60,6.
下肢康复训练机器人的设计开发
Design of Rehabilitation Training Robot for Lower Limb of Human Body
摘要
Abstract
In view of the actuality that many patients have lower limb movement disorders,and domes-tic traditional rehabilitation training devices are of complicated mechanical structure,poor wear adaptabili-ty,poor human-machine compatibility,and low precision during gait training,this paper proposes the design of a lower limb rehabilitation training robot.The mechanical exoskeleton legs of the robot adopt the crank-slider method to drive the joint movement,and the length of the leg and the width between two legs can be adj usted freely by the mechanical parts of the robot,which also consisted of the treadmill and the weight-reducing mechanism.Meanwhile,the robot integrates the control system of exoskeleton legs and treadmill to control the position of exoskeleton legs and the velocity of the treadmill in a coordinated way.To examine the efficiency,the lower limb rehabilitation training robot system was set up in the labo-ratory and the experiment with human body on load was carried out.The results show that the rehabilita-tion robot is highly adaptable to different sizes of human body,and has accurate traj ectory tracking ability as well as sound stability in coordinated motion control.关键词
下肢康复机器人/协调控制/轨迹跟踪/步态训练Key words
lower limb rehabilitation robot/coordinated control/traj ectory tracking/gait training分类
信息技术与安全科学引用本文复制引用
杨昆才,张小栋,张强,尹贵,樊琛..下肢康复训练机器人的设计开发[J].机械与电子,2018,36(3):55-60,6.基金项目
2016年陕西省科技统筹创新工程计划资助项目(2016KTZDGY06-06) （2016KTZDGY06-06）
国家高技术研究发展计划("八六三"计划)资助项目(2015AA042301) （"八六三"计划）
