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Alternative TitleDesign and Control of Lower Limb Exoskeleton Robot for Rehabilitation
薛增飞; 赵新刚; 林光模; 苏陈
Source Publication控制工程
Indexed ByCSCD
Contribution Rank1
Funding Organization国家高技术研究发展计划资助项目(2015AA042302)
Keyword外骨骼机器人 步态 下肢 行走
Other AbstractOrthotopic rehabilitative training is an effective kind of rehabilitation means for people with motor dysfunction which is caused by nervous system injury, like stroke. Lower limb powered exoskeleton robots can help patients to achieve walking or rehabilitation training, and satisfy the requirement of orthotopic rehabilitation. Because of this demand, we design a powered exoskeleton that has five degrees of freedom. The flexion and extension of the hip and knee in the sagittal plane are active. And, each joint is composed of a ball screw and a slider rocker mechanism. A spring in the ankle is used to improve the performance of damping. We analyze the transmission characteristics of the transmission mechanism, and then build the exoskeleton system, which includes sensors, bus structure, a power supply, etc. The lower limb joint data of the normal subjects are obtained as the reference trajectories which are collected by a motion capture system (vicon). Finally, the gaits are tested on the experimental prototype. Experimental results show that with the help of crutches, the exoskeleton robot is able to walk along the predefined trajectories, and could realize the trajectory tracking.
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author薛增飞
Recommended Citation
GB/T 7714
薛增飞,赵新刚,林光模,等. 下肢外骨骼康复机器人系统设计与研究[J]. 控制工程,2017,24(7):1291-1296.
APA 薛增飞,赵新刚,林光模,&苏陈.(2017).下肢外骨骼康复机器人系统设计与研究.控制工程,24(7),1291-1296.
MLA 薛增飞,et al."下肢外骨骼康复机器人系统设计与研究".控制工程 24.7(2017):1291-1296.
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