下肢外骨骼矫形器运动学分析

Kinematics Analysis of Lower Limb Exoskeleton Orthosis

基于减重步行训练原理,研究下肢外骨骼矫形器康复系统.针对下肢康复训练机器人不存在固定基座,利用常规的方法进行运动学分析较困难的问题,引入参考坐标系的坐标变换矩阵,建立下肢康复训练机器人运动学模型,推导出步行训练机器人正逆运动学公式.最后规划步态轨迹,利用ADAMS软件进行运动学仿真和双腿外骨骼矫形器样机试验,验证了运动学模型及其推导公式的正确性.

Lower limb exoskeletal orthosis is developed on the basis of body weight support training. Because lower extremity rehabilitation training robot does not have a fixed base, it is hard to use common means for kinematics analysis. This paper introduces coordinate matrix transformation of reference coordinates, establishes a kinematics model of the exoskeleton orthosis, and derives kinematic formulae of rehabilitation robots for lower extremity. Simulation in ADAMS and experiments of exoskeletal orthosis show that the method and formulations are correct after gait planning.