期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

下肢步态矫形器轨迹控制设计 被引量：4

Gait trajectory control design of powered gait othosis
下载PDF
导出
摘要 为了模拟正常人的行走步态,设计了具有外骨骼结构的动力步态矫形器。采用LabVIEW软件和多功能数据采集卡以及交流伺服平台,完成了下肢步态矫形器步态轨迹的半闭环控制,同时介绍了步态生成方法以及软件的设计。研究结果表明,步态矫形器能够较好地复原正常人的行走步态,并已应用到下肢康复机器人的控制系统中。 In order to simulate the gait of normal people, an exoskeleton powered gait orthosis was designed. Based on Lab- VIEW, NI DAQmx and AC servo platform, the half-closed control of the gait trajectory for powered gait orthosis was realized. The method for gait generating and software design were also presented. The result shows that the gait orthosis can reproduce the gait of normal people, which is already used in the control system of lower limb assistant.
作者 陶泽勇 沈林勇 钱晋武
机构地区 上海大学机电工程与自动化学院
出处 《机电工程》 CAS 2009年第5期1-3,共3页 Journal of Mechanical & Electrical Engineering
基金 国家高技术研究发展计划("863"计划)资助项目(2006AA04Z224) 上海市教委科研创新重点资助项目(08ZZ48)
关键词 步态矫形器 伺服电机 虚拟仪器平台 powered gait orthosis（PGO） servo motor LabVIEW
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献2

二级参考文献8

  • 1[1]Barbeau H, Rossignol S. Recovery of locomotion after chronic spinalization in the adult cat[J]. Brain Res,1987,412: 84-95.
  • 2[2]Finch L, Barbeau H. Hemiplegic gait: new treatment strategies[J]. Physiother Can,1985,38:36-41.
  • 3[3]Visintin M, Finch L, Barbeau H. Progressive weight bearing and treadmill stimulation during gait retraining of hemiplegics: a case study[J]. Phys Ther, 1987,68:807.
  • 4[4]Winstein CJ, Gradner ER, McNeal DR, et al. Standing balance training: effects on balance and locomotion in hemiparetic adults[J]. Arch Phys Med Rehabil, 1989,70:755-762.
  • 5[5]Hesse SA, Bertelt C, Jahnke MT, et al. Treadmill training with partial body weight support compared with physiotherapy in nonambulatory hemiparetic patients[J]. Stroke, 1995, 26: 976-981.
  • 6[6]Hesse SA,Konrad M, Uhlenbrock D, et al. Treadmill training with partial body weight support versus floor walking in hemiparetic subjects[J]. Arch Phys Med Rehabil, 1999,80:421-426.
  • 7[7]Visintin M, Barbeau H, Bitensky NK. A new approach to retrain gait in stroke patients through body weight support and treadmill stimulation[J]. Stroke, 1998,29:1122-1128.
  • 8[8]Danielsson A, Sunnerhagen KS. Oxygen consumption during treadmill walking with and without body weight support in patients with hemiparesis after stroke and in healthy subjects[J].Arch Phys Med Rehabil, 2000, 81(7):953-957.

共引文献31

同被引文献25

  • 1张晓超,张立勋,颜庆.一种新型三自由度下肢康复训练机器人步态机构运动分析及仿真[J].自动化技术与应用,2005,24(3):32-35. 被引量：11
  • 2张立勋,赵凌燕,王岚,王建.一种测量人行走时骨盆运动轨迹的新方法[J].哈尔滨工程大学学报,2006,27(1):128-130. 被引量：16
  • 3许小勇,钟太勇.三次样条插值函数的构造与Matlab实现[J].兵工自动化,2006,25(11):76-78. 被引量：120
  • 4ALEXANDER D W, THOMAS B, LARS L, et al. Adaptive Support for Patient-Cooperative Gait Rehabilitation with the Lokomat[ C ]//Proceedings of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. France: Acropolis Convention Center,2008:2357 - 2361.
  • 5SULLIVAN K J, BROWN D A, KLASSEN T, et al. Effects of task-Specific locomotor and strength training in adults who were ambulatory after stroke: results of the STEPS randomized clinical trial [ J ]. Physical Therapy, 2007,87 ( 12 ) : 1580 - 1602.
  • 6DOBKIN B, BARBEAU H, DEFORGE D, et al. The evolution of walking-related outcomes over the first 12 weeks of rehabilitation for incomplete traumatic spinal cord injury: the multicenter randomized Spinal Cord Injury Locomotor Trial [J]. Neurorehabilitation and Neural Repair, 2007,21 (1) :25 -35.
  • 7COLOMBO G, WIRZ M, DIETZ V. Driven gait orthosis for improvement of locomotor training in paraplegic patients [ J ]. Spinal Cord,2001,39 (5) : 252 - 255.
  • 8VENEMAN J F. A series elastic and bowden cable based actuation system for use as torque actuator in exoskeleton type robots [ J ]. International Journal of Robotics Research,2006,25 ( 3 ) :261 - 281.
  • 9FENG Zhi-gno, QIAN Jin-wu, ZhANG Ya-nan, et al. Biomechanical Design of the Powered Gaid Orthosis [ C ]//Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics. Sanya, China: [ s. n. ] ,2007 : 1698 - 1702.
  • 10粱少芳.仿人机器人步态规划及其控制系统的研究[D].广州:广东工业大学,2010.

引证文献4

二级引证文献20

机电工程
2009年 第5期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部