一种新型多体位康复训练下肢外骨骼的设计及实验

Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton

针对医学康复训练设备存在训练方式方法过于单一的问题,设计了一种新型多体位康复训练下肢外骨骼,建立了下肢外骨骼数学模型,进行了运动学仿真及分析。搭建了多位下肢康复外骨骼实验平台,进行了基于实物样机模型的步态行走实验。将仿真数据与实验数据进行对比,表明多体位下肢外骨骼设计的正确性以及合理性。

The medical rehabilitation training equipment exists the problem that training method of is too single.A new type of multi-position rehabilitation training lower limb exoskeleton is designed,a mathematical model of the lower limb exoskeleton is established,and kinematics simulation and analysis are carried out.A multi-position lower limb rehabilitation exoskeleton experimental platform is built,and a gait walking experi⁃ment based on a physical prototype model is carried out.The simulation data and the experimental data are com⁃pared,it shows the correctness and rationality of the multi-position lower limb exoskeleton design.