| 下肢外骨骼机器人运动学分析与轨迹控制实现 |
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| 引用本文： | 尤跃东,殷跃红. 下肢外骨骼机器人运动学分析与轨迹控制实现[J]. 机械与电子, 2012, 0(3): 65-69 |
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| 作者姓名： | 尤跃东 殷跃红 |
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| 作者单位： | 上海交通大学机械与动力工程学院,上海,200240 |
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| 基金项目： | 上海交通大学医工交叉研究基金重大项目资助项目(YG2010ZD101) |
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| 摘 要： | 为满足神经受损患者下肢康复训练需要，设计了外骨骼下肢康复机器人，建立了其运动学解析关系；对患者的康复策略进行了分析选择．并对康复策略的轨迹控制方法进行了研究，详细讨论了基于固高GUC-8轴嵌入式运动控制器的主被动控制实现方法。
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| 关 键 词： | 康复机器人 运动学解析 康复策略 轨迹控制方法 GUC-8轴嵌入式运动控制器 |
Kinematics Analysis and Trajectory Control Realization of Lower Extremity Exoskeleton Robot |
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| YOU Yue-dong , YIN Yue-hong. Kinematics Analysis and Trajectory Control Realization of Lower Extremity Exoskeleton Robot[J]. Machinery & Electronics, 2012, 0(3): 65-69 |
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| Authors: | YOU Yue-dong YIN Yue-hong |
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| Affiliation: | (School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China) |
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| Abstract: | To satisfy training demands for walking patients with impaired cranial nerves,a lower extremity exoskeleton rehabilitation robot was designed and its kinematics was deduced.After analyzing and choosing the recovery strategy for patients,the trajectory control methods were researched.The active and passive control methods based on Googol 8 axes embedded motion controller are discussed in detail. |
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| Keywords: | rehabilitation robot kinematics analysis recovery strategy trajectory control method Googol 8 axes embedded motion controller |
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