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儿童下肢辅助训练外骨骼的结构与控制方案设计

Structural and Control Strategy Design of a Lower-Extremity Rehabilitation Exoskeleton for Preschool Kids with Cerebral Palsy
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摘要 面向学龄前脑瘫儿童的下肢康复辅助训练外骨骼的研究十分匮乏。针对这一现状从脑瘫患儿的病理特点入手,基于牵张和步行训练所需的必要自由度进行分析,确定了关键设计指标继而完成了共具有6个主动自由度的下肢康复外骨骼结构设计和结构优化。最后针对康复训练方案的特点提出了基于位置反馈的动力学前馈控制,通过对系统时域特性的分析确定了控制参数。通过实验分析证明了儿童下肢辅助训练外骨骼的结构合理性和牵张运动和步行训练的可行性。 The research on lower-extremity rehabilitation exoskeletons for preschool children caused by cerebral palsy is very scarce.In view of this situation,this paper summarizes pathological characteristics of children with cerebral palsy and analyzes the necessary degrees of freedom required for rehabilitation training.By the use of gait data of healthy children,design indica-tors are determined.After that an exoskeleton structure for lower limb rehabilitation with 6 active degrees of freedom is designed.Finally,according to the characteristics of rehabilitation training,a dynamic feedforward control method based on position feed-back is proposed and specified by the analysis of time domain parameters.At last,the structural rationality of the exoskeleton and the feasibility of stretch exercise and walking training are proved by experiment.
作者 霍宇飞 于随然 HUO Yu-fei;YU Sui-ran(School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200240,China)
出处 《机械设计与制造》 北大核心 2023年第10期217-222,共6页 Machinery Design & Manufacture
基金 国家自然科学基金资助项目(82072042)。
关键词 脑瘫患儿 下肢外骨骼 结构设计 动力学前馈 Cerebral Palsy Lower Limb Rehabilitation Exoskeleton Mechanical Design Dynamic Feedforward Control
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