摘要
步态康复训练机器人是对下肢行走障碍患者进行步态康复训练的一种助力康复设备,其行走步态的研究对于控制方案的制定有着重要意义。本文作者提出了步态康复训练机器人总体结构设计方案,利用Matlab/Simulink仿真环境下的机构系统模块集(SimMechanics)建立了步态康复训练机器人系统的仿真模型,并将斯坦福OpenSim下肢肌肉骨骼模型得到的下肢关节运动数据作为设定输入对机器人进行了运动仿真分析和研究,为下一步机器人样机制作和实际控制奠定了理论基础。
Gait-rehabilitation-training-robot is a rehabilitation training assistance equipment used for individuals with pathological gait, the walking gait of the robot is vital important for the control scheme. The structure of a gait-rehabilitation-training-robot was designed, the simulation model of the robot was established by using SimMechanics in Matlab/Simulink simulation environment, the robot was simulated by using the data from the bothleg musculoskeletal model in Stanford OpenSim software.
出处
《机床与液压》
北大核心
2009年第1期154-156,共3页
Machine Tool & Hydraulics
