微动反馈运动控制下肢康复机器人设计与研究

Design and Research of Lower Limb Rehabilitation Robot with Micro Movement Feedback Motion Control

针对下肢运动障碍的患者数量逐年增多,设计了一种微动反馈运动控制下肢康复机器人。根据下肢康复训练的要求,完成了机器人的整体结构设计,进行了运动学及动力学分析。同时针对微动反馈运动控制策略进行了研究,利用患者人体的主动运动意识产生的微动实时反馈参与运动控制。这种运动控制方法进一步提高了下肢的康复效果。

With the increasing yearly of patients with lower limb movement disorder,a lower limb rehabilitation robot with micro movement feedback motion control has been designed. According to the requirements of lower limb rehabilitation training,the whole mechanical structure had been designed with the analysis of kinematics and dynamics. Meanwhile,the strategy of micro movement feedback motion control was researched,using the real time feedback of micro movement from the initiative motion consciousness of patients to participate in motion control. This motion control method further improves the rehabilitation effect of lower limb.