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计算机系统应用:2020,29(4):48-57
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下肢康复机器人系统设计与协调控制算法
(浙江理工大学 机械与自动控制学院, 杭州 310018)
System Design and Coordinated Control Algorithm of Lower Limb Rehabilitation Robot
(Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)
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投稿时间:2019-09-17    修订日期:2019-10-10
中文摘要: 脑卒中、脊髓损伤、下肢退行性关节疾病等神经系统疾病会导致肢体功能障碍,需要进行有针对性和重复性的训练.本文设计了一款可以切换坐、立、躺三种模式的轮椅式下肢康复机器人,在机器人站立姿态的主动步行训练模式下,解算人体前进速度映射轮椅式底盘电机速度,实现了下肢功能障碍患者步态训练与机器人轮椅式车体的协调控制.实验结果表明,下肢外骨骼行走的速度曲线和轮椅式车体的速度曲线基本一致,实现人与机器人的协调控制.
Abstract:Neurological diseases such as stroke, spinal cord injury, and degenerative joint diseases of the lower extremities can lead to limb dysfunction. It requires targeted and repetitive training. This study designs a wheelchair-type lower limb rehabilitation robot that can switch between sitting, standing, and lying modes. The wheelchair-type lower limb rehabilitation robot, in the active walking training mode of the robot standing posture, solves the forward speed of the human body to map the speed of the wheelchair-type chassis motor, and realizes the coordinated control of the gait training of the lower limb dysfunction patient and the robot wheelchair-type vehicle body. The experimental results show that the speed curve of the lower extremity exoskeleton walking and the speed curve of the wheelchair-type car body are basically the same, realizing the coordinated control of human and robot.
文章编号:7379     中图分类号:    文献标志码:
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林专,鲍敏,江先志.下肢康复机器人系统设计与协调控制算法.计算机系统应用,2020,29(4):48-57
LIN Zhuan,BAO Min,JIANG Xian-Zhi.System Design and Coordinated Control Algorithm of Lower Limb Rehabilitation Robot.COMPUTER SYSTEMS APPLICATIONS,2020,29(4):48-57

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