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可穿戴式下肢外骨骼康复机器人设计与分析

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针对现今下肢康复外骨骼机器人外部结构以及运动问题,利用Solidworks设计一款可穿戴式下肢外骨骼康复机器人,可以实现患者在手术后对下肢进行康复训练,恢复身体机能.基于人体下肢生物力学结构,使其关节和链接与人体的关节和链接相互对应,根据此基础设计出人体下肢运动学模型,应用D-H参数法分析了外骨骼机构运动模型,通过Matlab机器人工具箱进行运动学分析以及工作空间仿真模拟,进一步验证了康复训练的可行性.
Design and Analysis of a Wearable Lower Extremity Exoskeleton Rehabilitation Robot
Aiming at the external structure as well as the motion problems of today's lower limb rehabilitation ex-oskeleton robot,a wearable lower limb exoskeleton rehabilitation robot is designed by using Solidworks,which can realize the patients'lower limb rehabilitation training and restoration of body functions after surgery.Based on the biomechanical structure of the human lower limb,its joints and links correspond to those of the human body,a kinematic model of the human lower limb is designed based on this foundation,and the motion model of the ex-oskeleton mechanism is analyzed using the D-H parametric method,and the kinematic analysis as well as the workspace simulation simulation is carried out through the Matlab Robotics Toolbox,which further verifies the fea-sibility of the rehabilitation training.

lower limb rehabilitation robotstructural designkinematic analysiskinematic simulation

李保坤、陶珍钰、卞云豪

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安徽理工大学 第一附属医院,安徽 淮南 232001

安徽理工大学 机电工程学院,安徽 淮南 232001

下肢康复机器人 结构设计 运动学分析 运动学仿真

2024

兰州工业学院学报
兰州工业学院

兰州工业学院学报

影响因子:0.205
ISSN:1009-2269
年,卷(期):2024.31(5)