摘要
结合康复医学理论和人体下肢结构及运动学,设计了基于两自由度五杆机构的下肢康复训练机构.依据正常人体步态运动轨迹确定杆长,通过下肢运动区域、下肢关节转角、运动轨迹幅度等约束条件对机构有效位置进行探寻,通过改变杆长比和描点位置来实现机构的轨迹可变、幅度可调.对机构进行运动仿真结果验证了机构的合理性.机构重心稳定、结构简单、便于集成到其他健身器械,可以实现多种康复训练模式.
Combined with rehabilitation medicine theory and the structure of human lower limbs and kinematics,the lower limbs rehabilitation training mechanism was designed based on the five-bar mechanism with two degrees of freedom.The rod length was determined based on normal human gait trajectory.Its effective position of the mechanism was explored by some constrains such as lower limb motor area,lower limb joint angle,trajectory amplitude.The trajectory of the mechanism and its amplitude can be adjusted by changing rod length ratio and the position of tracing point.The results of mechanism motion simulation confirm the rationality of the design.This mechanism has a simple structure and its center of gravity is stable.It can be easily integrated to other fitness equipment and can achieve a variety of rehabilitation training mode.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S1期309-311,328,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
关键词
机构设计
下肢康复
轨迹可调
位置探寻
运动仿真
mechanical design
lower limb rehabilitation
adjustable track
position to explore
motion simulation
