Modeling and Simulation of Omni-directional Lower Limbs Rehabilitation Training Robot

被引：0

作者：

Jiang, Ying ^{[1
,2
]}

Bai, Baodong ^{[1
]}

Wang, Shuoyu ^{[3
]}

机构：

[1] Shenyang Univ Technol, Sch Elect Engn, Shenyang, Peoples R China

[2] Shenyang Univ Chem Technol, Sch Informat Engn, Shenyang, Peoples R China

[3] Kochi Univ Technol, Dept Intelligent Mech Syst Engn, Kochi, Japan

来源：

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年

关键词：

omni-directional lower limbs rehabilitation training robot; modeling; simulation; kinematics; dynamics;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An omni-directional lower limbs rehabilitation training robot is designed to improve patient's locomotion, who suffers from impairment in walking ability after neurology injuries. By analyzing the kinematic and dynamic characteristics of the robot, its motion control model is provided. A multi-body dynamic model of a full robot is established by using ADAMS software. In addition, the co-simulations under Matlab and ADAMS are carried out by defining I/O interface. The results show that the established model of robot is correct.

引用

页码：3737 / 3740

页数：4