摘要
由一位新闻记者兼机器人与机器学习的新闻编辑每日新闻-机器人的新研究是一份新报告的主旨。根据《新闻周刊》编辑在沈阳的新闻报道，研究表明：“康复机器人作为重要的辅助设备，广泛应用于康复治疗和日常生活援助。”本研究的资金支持者包括叶长龙。新闻记者引用沈阳航天大学的研究成果：“本文提出的康复机器人主要由全方位移动平台模块、下肢外骨骼模块和支撑模块组成，根据机器人全方位移动和刚度好的特点，采用解析法建立了机器人的整体运动学模型,提出了全方位移动下肢外骨骼机器人的被动和主动训练控制策略,被动训练模式有利于实现对人体下肢的行走引导和辅助目标,主动训练模式可以通过主动训练实现机器人与人的协同运动。通过仿真实验，获得了一组最优导纳参数，并将这些参数代入控制器进行了原型实验。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New research on robotics is the subjec t of a new report. According to news reporting out of Shenyang, People’s Republi c of China, by NewsRx editors, research stated, “As important auxiliary equipmen t, rehabilitation robots are widely used in rehabilitation treatment and daily l ife assistance.” Financial supporters for this research include Changlong Ye. The news journalists obtained a quote from the research from Shenyang Aerospace University: “The rehabilitation robot proposed in this paper is mainly composed of an omnidirectional mobile platform module, a lower limb exoskeleton module, a nd a support module. According to the characteristics of the robot’s omnidirecti onal mobility and good stiffness, the overall kinematic model of the robot is es tablished using the analytical method. Passive and active training control strat egies for an omnidirectional mobile lower limb exoskeleton robot are proposed. T he passive training mode facilitates the realization of the goal of walking guid ance and assistance to the human lower limb. The active training mode can realiz e the cooperative movement between the robot and the human through the admittanc e controller and the tension sensor and enhance the active participation of the patient. In the simulation experiment, a set of optimal admittance parameters wa s obtained, and the parameters were substituted into the controller for the prot otype experiment.”
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