Design and Kinematics Analysis of a Lower Limb Exoskeleton Robot

被引：1
|
作者：
Wei, Xiaodong [1 ,2 ,3 ,4 ]
Yu, Hongliu [1 ,3 ,4 ]
Meng, Qingyun [1 ,2 ,3 ,4 ]
Hu, Bingshan [1 ,3 ,4 ]
机构：
[1] Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai 200093, Peoples R China
[2] Shanghai Univ Med & Hlth Sci, Shanghai 201318, Peoples R China
[3] Shanghai Engn Res Ctr Assist Devices, Shanghai 200093, Peoples R China
[4] Minist Civil Affairs, Key Lab Neural Funct Informat & Rehabil Engn, Shanghai 200093, Peoples R China
来源：
MAN-MACHINE-ENVIRONMENT SYSTEM ENGINEERING, MMESE 2018 | 2019年 / 527卷
基金：
中国国家自然科学基金;
关键词：
Lower limb exoskeleton robot; Kinematics analysis; Rehabilitation; SolidWorks;
D O I：
10.1007/978-981-13-2481-9_17
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The lower limb exoskeleton robot is a new technique of rehabilitation training for lower limb dysfunction, which is paid more and more attention by people. Because the lower limb exoskeleton robot is relatively heavy all over the world, this article designs a new lower limb exoskeleton robot whose hip joint is driven by motor and other joints are unpowered. It effectively reduces the lower limb exoskeleton robot's weight. The kinematics equation of exoskeleton robot is established by D-H coordinate system, and the correctness of kinematics equation is verified with combining simulation by MATLAB and SolidWorks software. The end coordinate data calculated by kinematics equation is used as a contrast to test, and a good walking effect is achieved.
引用
收藏
页码：131 / 139
页数：9
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