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一种下肢外骨骼助行康复机器人及康复评价方法

宁萌 罗超 马泽峰 张秋菊 王琨

宁萌, 罗超, 马泽峰, 张秋菊, 王琨. 一种下肢外骨骼助行康复机器人及康复评价方法[J]. 机械科学与技术, 2017, 36(5): 697-703. doi: 10.13433/j.cnki.1003-8728.2017.0507
引用本文: 宁萌, 罗超, 马泽峰, 张秋菊, 王琨. 一种下肢外骨骼助行康复机器人及康复评价方法[J]. 机械科学与技术, 2017, 36(5): 697-703. doi: 10.13433/j.cnki.1003-8728.2017.0507
Ning Meng, Luo Chao, Ma Zefeng, Zhang Qiuju, Wang Kun. Lower Extremity Exoskeleton Rehabilitation Robot and Rehabilitation Evaluation Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(5): 697-703. doi: 10.13433/j.cnki.1003-8728.2017.0507
Citation: Ning Meng, Luo Chao, Ma Zefeng, Zhang Qiuju, Wang Kun. Lower Extremity Exoskeleton Rehabilitation Robot and Rehabilitation Evaluation Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(5): 697-703. doi: 10.13433/j.cnki.1003-8728.2017.0507

一种下肢外骨骼助行康复机器人及康复评价方法

doi: 10.13433/j.cnki.1003-8728.2017.0507
基金项目: 

中央高校基本科研业务费专项资金项目(JUSRP11718)、江苏省自然科学基金青年基金项目(BK20160185)及江苏省食品先进制造装备技术重点实验室开放课题(江南大学)项目资助

详细信息
    作者简介:

    宁萌(1985-),副教授,博士,研究方向为康复机器人、特种机器人,ningmengkaoyan@163.com

Lower Extremity Exoskeleton Rehabilitation Robot and Rehabilitation Evaluation Method

  • 摘要: 针对下肢瘫痪患者的康复训练需求,设计了一种下肢外骨骼助行康复机器人。描述了外骨骼机器人的机械结构。设计了基于关节角位移的闭环控制系统,将VICON运动捕捉系统采集的正常人体下肢运动关节角作为参考输入信息,控制受试者穿戴外骨骼进行行走、上下台阶动作。完成系统调试后,采用VICON运动捕捉系统捕捉受试者在该控制系统下的步态,并与正常人体步态作对比,验证了控制算法的正确性。定义了下肢康复评价标准RMP,使用设计的外骨骼康复机器人进行患者跟踪康复训练实验,验证了助行康复机器人的有效性。
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出版历程
  • 收稿日期:  2015-10-11
  • 刊出日期:  2017-05-05

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