下肢康复训练机器人

Lower limbs rehabilitative robot

下肢康复训练机器人能够使患者模拟正常人的步伐规律作康复训练运动,锻炼下肢的肌肉,恢复神经系统对行走功能的控制能力,达到恢复走路机能的目的.该机器人由步态控制系统、姿态控制系统、重心控制机构等部分组成.介绍了下肢康复训练机器人的总体结构、计算机控制原理以及由PWM实现的I/O接口电路.

A lower limbs rehabilitative robot can simulate the motion of normal human's walking gesture and will help patients to recover from illness. It can exercise the muscles of lower limbs and get back the stepped function controlling of neural system, so as to achieve the aim of recoverring steppped function. This paper introduced the structure,control system and I/O interface circuits practiced by PWM of the Lower Limbs Rehabilitative Robot,which consists of gait control structure,stance control structure,and barycenter control structure.