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下肢康复用并联式外骨骼膝关节的设计 被引量：3

Design of an exoskeleton knee based on parallel mechanism for lower limb rehabilitation
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摘要 提出了下肢瘫痪病人康复用并联式外骨骼膝关节的设计方法。通过分析传统单自由度转动副和多连杆机构的不足,采用平面二自由度并联机构对膝关节外骨骼化,以提高外骨骼膝关节的仿生性和通用性,并提出了该机构辅助人体膝关节进行康复训练的实施方案。在运动学分析的基础上,以满足人体正常行走时膝关节的运动范围要求和提高机构运动学性能为目标进行了结构参数优化设计。初步分析表明,该机构用于下肢瘫痪病人康复训练时具有仿生性高和通用性强的特点。 A kind of parallel mechanism was proposed to design an exoskeleton knee for lower limb rehabilitation. Based on the analysis of the defects of the traditional 1-DOF revolute pair and the muti-linkage mechanism, a kind of planar 2-DOF parallel mechanism was employed to design an exoskeleton knee with the good bionic characteristic and high versatility, and a scheme for simulating the knee using this mechanism for lower limb rehabilitation was also given. On the basis of kinematical analysis, the optimal design of structural parameters was conducted with the aim of satisfying the workspace requirements of the knee during normal walk and improving the kinematical performance. The elementary analysis of this mechanism shows that it owns both good bionic characteristic and high versatility when it is applied to lower limb rehabihtation.
作者 印松 殷跃红
机构地区 上海交通大学机器人研究所
出处 《高技术通讯》 EI CAS CSCD 北大核心 2009年第8期839-843,共5页 Chinese High Technology Letters
基金 863计划(2006AA04Z240)资助项目
关键词 外骨骼 平面并联机构 康复设备 膝关节 exoskeleton, planar parallel mechanism, rehabilitation device, knee joint
分类号 R49 [医药卫生—康复医学]
  • 相关文献

参考文献12

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共引文献7

同被引文献31

  • 1王万利.脑卒中偏瘫患者接受系统康复护理干预对肢体运动功能及日常生活能力的影响[J].中国临床康复,2005,9(21):14-15. 被引量：16
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引证文献3

二级引证文献39

高技术通讯
2009年 第8期

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