Dynamic Modelling and Simulation of Lower Limbs Rehabilitation Robot with Three Degree-of-Freedom
For patients with motor skills disorder, a three degree-of-freedom mechanism scheme of rehabilitation robot to achieve the training for hip joint and knee joint with flexion and extension is proposed. The link mechanism is used to imitate the lower limbs, which is combined with the rehabilitation robot as a whole system. The hip joint and knee joint of patients are drove by a control mechanism to bend and stretch, thus providing rehabilitation training for the damaged lower limbs. The dynamical model of the human-robot system is established based on Newton-Euler method, and simulation of rehabilitation training is carried out. The simulation results indicate that the force conditions of each joint during rehabilitation training can be obtained by the dynamical model, which can provide theoretical basis for the proper and efficient rehabilitation exercise strategy.
NETL
NSTL
万方数据
