| 下肢康复用并联式外骨骼膝关节的设计 |
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| 引用本文： | 印松,殷跃红. 下肢康复用并联式外骨骼膝关节的设计[J]. 高技术通讯, 2009, 19(8). DOI: 10.3772/j.issn.1002-0470.2009.08.012 |
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| 作者姓名： | 印松 殷跃红 |
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| 作者单位： | 上海交通大学机器人研究所,上海,200240;上海交通大学机器人研究所,上海,200240 |
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| 摘 要： | 提出了下肢瘫痪病人康复用并联式外骨骼膝关节的设计方法.通过分析传统单自由度转动副和多连杆机构的不足,采用平面二自由度并联机构对膝关节外骨骼化,以提高外骨骼膝关节的仿生性和通用性,并提出了该机构辅助人体膝关节进行康复训练的实施方案.在运动学分析的基础上,以满足人体正常行走时膝关节的运动范围要求和提高机构运动学性能为目标进行了结构参数优化设计.初步分析表明,该机构用于下肢瘫痪病人康复训练时具有仿生性高和通用性强的特点.
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| 关 键 词： | 外骨骼 平面并联机构 康复设备 膝关节 |
Design of an exoskeleton knee based on parallel mechanism for lower limb rehabilitation |
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| Yin Song,Yin Yuehong. Design of an exoskeleton knee based on parallel mechanism for lower limb rehabilitation[J]. High Technology Letters, 2009, 19(8). DOI: 10.3772/j.issn.1002-0470.2009.08.012 |
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| Authors: | Yin Song Yin Yuehong |
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| Affiliation: | Yin Song,Yin Yuehong(Research Institute of Robotics,Shanghai Jiaotong University,Shanghai 200240) |
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| Abstract: | A kind of parallel mechanism was proposed to design an exoskeleton knee for lower limb rehabilitation.Based on the analysis of the defects of the traditional 1-DOF revolute pair and the muti-linkage mechanism,a kind of planar 2-DOF parallel mechanism was employed to design an exoskeleton knee with the good bionic characteristic and high versatility, and a scheme for simulating the knee using this mechanism for lower limb rehabilitation was also given.On the basis of kinematical analysis,the optimal design o... |
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| Keywords: | exoskeleton planar parallel mechanism rehabilitation device knee joint |
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