多模式柔顺膝关节康复器设计及力分析

Design and Force Analysis of Multi-Modal Compliant Knee Joint Rehabilitation Appliance

研究开发了一种多模式柔顺膝关节康复器,提出了无杆气缸+气动柔性驱动器的复合驱动技术,保证了对膝关节康复训练柔顺性和大行程的要求。设计了康复器的结构和控制系统的软、硬件,并对康复器的驱动力进行了分析。所研发的康复器可实现膝关节主动、被动等多种模式的康复训练。

This paper develops a multi-modal compliant rehabilitation appliance for knee joint,proposes the complex actuating technology with non-rod pneumatic cylinder and pneumatic compliant actuator,which can satisfy the knee joint rehabilitation training requirements for compliance and long stroke output,carries out the mechanical structure design of the rehabilitation appliance and the control system hardware and software design,analyzes the driving force and makes the rehabilitation appliance realize multi-modal rehabilitation training,such as active and passive training for knee joint.