| 下肢康复训练机器人步态规划及运动学仿真 |
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| 引用本文： | 张立勋,张晓超.下肢康复训练机器人步态规划及运动学仿真[J].哈尔滨工程大学学报,2009,30(2). |
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| 作者姓名： | 张立勋 张晓超 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研基金 |
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| 摘 要： | 为满足神经受损患者步行康复训练需要,设计了一种具有四自由度步态机构的下肢康复训练机器人,建立了步态机构正逆运动学解析模型;为使机器人能模拟不同步态为患者提供多种训练模式,根据步行运动特征,给出了以步长,步态周期及步态时相为参数的可调步态规划方法.通过基于Matlab＼Simulink＼SiMMechanics环境下的机构运动学仿真分析,验证了运动学模型的正确性以及步态规划的可行性,说明该四自由度步态训练机器人可以模拟正常人步行时的步态和脚踝运动姿态,满足患者步态训练需要.仿真结果还可用于步态机构的参数优化设计,并为后续人机控制系统研究提供必要数据和研究基础.
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| 关 键 词： | 康复机器人 步态规划 机构模型 运动学仿真 |
Gait planning and kinematic simulation for a lower limb gait rehabilitation robot |
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| ZHANG Li-xun,ZHANG Xiao-chao.Gait planning and kinematic simulation for a lower limb gait rehabilitation robot[J].Journal of Harbin Engineering University,2009,30(2). |
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| Authors: | ZHANG Li-xun ZHANG Xiao-chao |
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| Affiliation: | College of Mechanical and Electrical Engineering;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | To satisfy training demands for walking patients with impaired cranial nerves,a lower limb gait rehabilitation robot with a 4-DOF gait mechanism was designed and its kinematics was deduced based on the closed-loop vector method.Furthermore,by analyzing the characteristics of natural human gait,a gait planning method was proposed to generate various gaits for the robot that satisfy the requirements of training,using adjustable parameters such as gait stride,gait cycle,and the ratio of the support period or s... |
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| Keywords: | rehabilitative robot gait planning mechanics model kinematics simulation |
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