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Mechanism Design and Kinematics Analysis of Lower Limb Rehabilitation Robot
Author(s): 
Pages: 96-101
Year: Issue:  1
Journal: Journal of Hebei Institute of Technology(Natural Science Edition)

Keyword:  康复机器人机构运动学分析Matlab;
Abstract: 设计了一种结构简单、穿戴方便、安全可靠的实用下肢康复机器人,可用于不同身高、不同体态的患者按正常人的步态轨迹进行康复训练.并用笛卡尔坐标变换法对机构进行了正运动学和逆运动学分析,分别得出机器人在运动过程中各关节变量与其在空间中位姿的关系式.运用Matlab编程计算,绘制了髋、膝和踝关节运动角度的变化曲线和末端的步态轨迹曲线,进一步验证了正、逆运动学分析结果的正确性.
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