摘要
穿戴式下肢助行外骨骼机器人是一种能够帮助行走不便的老人和具有行走功能障碍的患者进行辅助行走的仿人服务机器人,其康复训练设备已提升为国家战略性研究项目,越来越得到重视。通过对人体下肢运动机理以及步态的研究,并基于动力学仿真软件Adams对外骨骼机器人的受力和步态进行仿真分析,验证步态的合理性,同时对以后行走的合理性提供依据以及为进一步设计出一种新型穿戴式下肢助行外骨骼机器人样机提供参考。
The wearable walking- aid exoskeleton robot is a kind of humanoid service robot that can assist old people or patients who have difficulties in walking. Research on such rehabilitation training devices has been promoted to national strategic research project,and is getting more and more attention. In this paper,through the study of the motion mechanism and gait of human lower limb,and based on the dynamics simulation software Adams,we carried out simulation analysis of the stress and gait of the exoskeleton robot,and validated the rationality of its gait. This study can provide the basis for the rationality of the walking of the robot,as well as a reference for the design of a new type of wearable lower limb walking- aid exoskeleton robot.
出处
《现代机械》
2015年第6期1-6,共6页
Modern Machinery
