Walking-aid Robot for Rehabilitation of Person with Disabled Lower Limbs

doi:10.3969/j.issn.1000-1093.2018.04.023

Abstract

Abstract: A walking-aid robot is designed for rehabilitation training of person whose is lower limbs are disabled. The robot is characterized by high security, high intelligence and friendly man-machine interaction. The structure of the robot is presented,and the trajectory of the robot is obtained by analyzing its kinematics and dynamics. The motion control systems for straight walking and turning of robot are set up based on the mathematical model.The ergonomics and appearance design of the robot are studied to achieve the combination of function and appearance. The feasibility and effectiveness of the walking-aid robot is demonstrated through simulation experiments.Key

Key words: robot, walkingdisorder, rehabilitationtraining, walkingdriving, man-machineinteraction

CLC Number:

TP242.3

QIAO Yu， MU Yu， LYU Yun-qi， GAO Xue-shan. Walking-aid Robot for Rehabilitation of Person with Disabled Lower Limbs[J]. Acta Armamentarii, 2018, 39(4): 825-832.

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第39卷
第4期2018 年4月兵工学报ACTA
ARMAMENTARIIVol.39No.4Apr.2018

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