基于数值图谱法的下肢仿生关节康复器械

设计一种基于数值图谱法的下肢仿生关节康复器械，可以弥补传统下肢截瘫疗法中的不足，同时实现单个电机驱动2个关节，结构简单易于实现。通过分析人正常行走时的步态，确定了各关节的实现机构类型，采用特征参数法对各关节实现机构的各杆杆长进行设计计算，借助 FFT(快速傅里叶变换)数学工具，提取机构的输出函数曲线的特征参数；应用Matlab编程对髋关节和膝关节进行设计计算，可达到设计目标。仿真结果表明：该方法拟合误差可以控制在5%范围内，不会对患者造成二次伤害。

A Kind of Lower Limb Bionic Joints Rehabilitation Equipment Based on the Numerical Atlas Method

A kind of lower limb bionic joints rehabilitation equipment based on the numerical atlas method is designed. It can make up for the shortcomings of traditional lower limb paraplegia therapy, and realize a single motor driving two joints at the same time, the structure is simple and easy to implement. Through the analysis of normal walking gait, and determine the implementation mechanism of the joint type, the characteristic parameters of the joint implementation mechanism of the long rod is designed and calculated, by FFT (fast Fourier transform) mathematical tool, the characteristic parameters of the output function curve of the mechanism are extracted. The design and calculation of hip joint and knee joint by using Matlab programming, can reach the design goal. The simulation results show that the fitting error of this method can be controlled within 5%, and it will not cause secondary injuries to the patients.