下肢外骨骼康复机器人设计及其运动学分析

Design and Kinematic Analysis of Lower Limb Exoskeleton Rehabilitation Robot

采用电机驱动方式,设计一种用于辅助行走和康复训练的人体下肢外骨骼康复装置.将下肢外骨骼简化为矢状面内的五杆机构,建立相应的D-H(Denavit-Hartenberg)模型,推导出一个步态周期内髋关节、膝关节、踝关节和脚尖的坐标方程.在ADAMS环境下,对下肢外骨骼进行运动学仿真分析,所得到的髋关节、膝关节和踝关节的坐标变化曲线表明:下肢外骨骼各关节在空间中具有连续的运动轨迹.

A rehabilitation device of human lower limb exoskeleton is designed for walking aids and rehabilitation training using the way of motor drive.By establishing the D-H（Denavit-Hartenberg）model of lower limb exoskeleton,the coordinate equations of hip joint,knee joint and ankle joint are derived.The kinematics simulation of lower limb exoskeleton is performed under the ADAMS environment.The coordinate curves of hip,knee and ankle joints are analyzed.The results show that the joints of the lower limb exoskeleton have a continuous trajectory in space.