摘要
本文对外动力式双关节单自由度下肢截瘫步行器的助行机理和设计方法进行了研究,论述了研究截瘫步行器的必要性和可行性。通过对健康人步态和动力学分析,导出设计目标函数,用优化方法对步行机构进行设计,获得了最佳机构参数。在工程允许的精度范围内建立了步行器运动状态的力学模型,通过动力学仿真分析,确定了配套的电动机和传动系统的参数,获得了理想的运动动态特性。
The principle and designing of a new kind of walking device with two joints of single degree of freedom are presented in this paper. The device permits paraplegia to walk again with reciprocal gait, which is usually called Para Walker. Based on normal gait analysis, the objective function for optimum design of the mechnisms adopted in the device was established. The parameters of these mechanisms of transmiting system were designed on dynamical-consideration. The results from computer initation showed that both kinematical and dynamical properties of this device are quite close to ideal cenception.
出处
《中国康复医学杂志》
CAS
CSCD
1991年第6期262-266,共5页
Chinese Journal of Rehabilitation Medicine
关键词
外动力
截瘫
步行器
Extra-powered
Paraplegia
Working device
