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Research on the Wearable Lower Limbs Rehabilitative Robot

Author: ZhaoYuYu
Tutor: ZhangLiXun
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Wearable robot MATLAB simulation Movement of the lower limbs Trajectory control
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 570
Quote: 12
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Abstract


Rehabilitation training robot technology is an emerging technology , the rapid development in recent years , and is a new application of robotics in the medical field , after decades of development have made ??great achievements . Foreign rehabilitation robotics research is more developed , and our fledgling research in the field of rehabilitation engineering research projects more practical application significance . This research is the a wearable lower limb rehabilitation robot , which is a kind of rehabilitation training robot , it can be fixed in the human body , driven by the drive to mimic normal gait , thereby stimulating the patient walking training , so that the lower limb movement disorder rehabilitation of patients . This paper analyzes the development and application of the lower limb rehabilitation robot at home and abroad , as well as the technical difficulties of the lower extremity exoskeleton , theoretical research and human lower limb mechanism of human gait based on wearable lower extremity rehabilitation the robot 's overall institutional programs and control programs , and determine the specific robot -driven approach and a reasonable size , and the establishment of the agency model . Institutional design need to simplify the degree of freedom of the human lower limb with the the DH method established coordinate transformation matrix , rehabilitation robot kinematics equations , inverse solution ; using MATLAB Simulink and SimMechanics Toolbox rehabilitation robot kinematics simulation study to verify the feasibility and correctness of the kinematic model . On the basis of the kinematic model , through the introduction of the quality of the institutions and the human body , the center of mass and moment of inertia to build a dynamic model of the organization and dynamics simulation analysis , simulation force and velocity curve of the drive mechanism , for the selection of the motor and transmission ratio provides a theoretical basis . The motor parameters , to build a single - joint servo control system simulation model , the system uses the speed and position of the double-loop control , established on the basis of the end of the robot trajectory control simulation model , the coordination of joint control, and the end of the robot 's trajectory control .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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