一种下肢外骨骼康复机器人优化的结构设计与控制仿真分析

Optimized Physical Design and Simulation of a Lower-limb Exoskeletons' Rehabilitation Robot

越来越多的脑卒中患者使得理疗师的康复训练工作繁重且康复效果评估体系不完整,针对此现状,设计出一款优化的外骨骼康复机器人模型。介绍了该机器人优化的结构设计,并对其进行了相对应的控制策略分析,进而提出一种控制方法并进行了仿真分析。仿真实验研究表明,所提出的控制策略在跟踪精度和速度上都具有明显的优势。

Nowadays,more and more stroke patients lead to the strenuous rehabilitation training tasks of therapists and the incomplete rehabilitation evaluation system.Aiming at such situations our team design a n exoskeleton rehabilitation robot.According to the dynamic characters of the robot we analyzed the lower limb rehabilitation strategy and the corresponding control strategy.A control method was therefore proposed and analyzed via simulation.The simulation results show that the proposed control method has obvious advantages in tracking precision and speed.