[1]夏田,桓茜,陈宇,等.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.[doi:10.11830/ISSN.1000-5013.201704003]
　XIA Tian,HUAN Xi,CHEN Yu,et al.Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot[J].Journal of Huaqiao University(Natural Science),2017,38(4):452-456.[doi:10.11830/ISSN.1000-5013.201704003]
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下肢外骨骼康复机器人设计及其运动学分析()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第38卷
期数:
2017年第4期
页码:
452-456
栏目:
出版日期:
2017-07-10

文章信息/Info

Title:
Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot
文章编号:
1000-5013(2017)04-0452-05
作者:
夏田;  桓茜;  陈宇;  徐建林;  韩瑞琪
陕西科技大学 机电工程学院, 陕西 西安 710021
Author(s):
XIA Tian;  HUAN Xi;  CHEN Yu;  XU Jianlin;  HAN Ruiqi
College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China
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
Keywords:
lower limb exoskeleton;  five-bar mechanism;  kinematics equation;  D-H model;  simulation analysis;  ADAMS software
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.201704003
文献标志码:
A
摘要:
采用电机驱动方式,设计一种用于辅助行走和康复训练的人体下肢外骨骼康复装置.将下肢外骨骼简化为矢状面内的五杆机构,建立相应的D-H(Denavit-Hartenberg)模型,推导出一个步态周期内髋关节、膝关节、踝关节和脚尖的坐标方程.在ADAMS环境下,对下肢外骨骼进行运动学仿真分析,所得到的髋关节、膝关节和踝关节的坐标变化曲线表明:下肢外骨骼各关节在空间中具有连续的运动轨迹.
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.

参考文献/References:

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[9] 夏田,桓茜,陈宇,等.人体下肢外骨骼康复机器人的仿真分析[J].陕西科技大学学报,2016,34(6):157-158.

备注/Memo

备注/Memo:
收稿日期: 2016-12-27
通信作者: 夏田(1962-),女,教授,主要从事数控装备、机器人及AVG小车等自动化设备的研究.E-mail:492487352@qq.com.
基金项目: 陕西省科技计划资助项目(2013K07-08)
更新日期/Last Update: 2017-07-20