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助行训练机器人骨盆位姿机构动力学分析

董玉红

董玉红. 助行训练机器人骨盆位姿机构动力学分析[J]. 机械科学与技术, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306
引用本文: 董玉红. 助行训练机器人骨盆位姿机构动力学分析[J]. 机械科学与技术, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306
Dong Yuhong. Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306
Citation: Dong Yuhong. Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306

助行训练机器人骨盆位姿机构动力学分析

doi: 10.13433/j.cnki.1003-8728.2015.0306
基金项目: 

863计划项目(2008AA040203)资助

详细信息
    作者简介:

    董玉红(1965-),教授,博士,研究方向为机电控制、特种机器人控制技术及仿真,dongyuhong585@163.com

Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot

  • 摘要: 为了辅助偏瘫病人完成行走训练,提出了一种助行训练机器人骨盆位姿控制机构,根据该机构的原理和组成,利用凯恩方法建立了骨盆平面机构的动力学方程,并根据骨盆位姿的运动规律进行了运动学仿真计算,得到了机构运动杆件的位移、速度和加速度曲线。通过解算动力学方程得到了驱动力曲线。计算结果表明:该骨盆位姿控制机构能够实现人体骨盆的位姿控制,通过控x、z方向的移动机构和骨盆平面机构两个杆的伸缩,可以实现人行走训练时骨盆四个自由度的运动。
  • [1] 匡霞,陈文龙.脑血管病偏瘫患者252例康复治疗临床观察[J].山东医药,2011,51(52) Kuang X, Chen W L. Rehabilitation treatment clinica observation for cerebrovascular hemiplegia patients 252 cases[J]. Shandong Medical Journal,2011,51(52)(in Chinese)
    [2] Lünenburger L, Colombo G, Riener R, et al. Clinical assessments performed during robotic rehabilitation by the gait training robot Lokomat[C]// Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics,Chicago, IL, USA,2005:345-348
    [3] Fiorenzo A, Carmelo C, Danilo M, et al. REMOV: EEG artifacts removal methods during Lokomat lower-limb rehabilitation[C]// International Conference on Biomedical Robotics and Biomechatronics,Roma,Italy,2012:992-997
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    [6] 董玉红,田素玲,王志忠.基于闭环矢量法的骨盆位姿机构运动学分析[J].机电一体化,2012,11:26-29,39 Dong Y H, Tian S L, Wang Z Z. Kinematics analysis of pelvis position mechanism based on closed loop vector method [J]. Mechatronics,2012,11:26-29,39 (in Chinese)
    [7] Stauffer Y, Reynard F, Allemand Y, et al. Pelvic motion implementation on the walk trainer[C]// 2007 IEEE International Conference on Robotics and Biomimetics,Sanya,China.December 15-18,2007:133-138
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    [9] 薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].2版.北京:清华大学出版社,2011 Xue D Y, Chen Y Q. System simulation technology and application based on MATLAB/Simulink[M]. 2 editior.Beijing:Tsinghua University Press,2011 (in Chinese)
    [10] 刘富强,张立勋,董玉红等.助行训练机器人骨盆位姿控制机构动力学研究[J].哈尔滨工程大学学报,2009,30(10):1152-1158 Liu F Q, Zhang L X, Dong Y H, et al. Dynamics study on pelvis position control mechanism of walking aided training robot[J]. Harbin Engineering University Journal,2009,30(10):1152-1158 (in Chinese)
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出版历程
  • 收稿日期:  2013-05-13
  • 刊出日期:  2015-03-05

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