Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs a...Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.展开更多
为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center ...为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center of Gravity,重心地面投影点)作为步态规划中的稳定性判断依据,并用Robotics Toolbox for Matlab仿真,结果表明:下肢外骨骼康复机器人在康复训练过程中各关节具有连续且稳定的步态轨迹,为后续脑卒中患者使用的下肢外骨骼康复机器人样机研制提供了必要的理论依据。展开更多
基金the National Basic Research Program of China(Grant No.2016YFC0802700)the National Natural Science Foundation of China(Grant No.50975010,Grant No.51075017).
文摘Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.
文摘为满足越来越多的脑卒中患者辅助行走和康复训练的需要,设计了一款下肢外骨骼机器人模型,采用D-H参数法建立踝关节、膝关节、髋关节坐标系,推演出步态周期内的坐标方程。为了安全起见,要求脑卒中患者步行速度慢且步长短,利用CoG(Center of Gravity,重心地面投影点)作为步态规划中的稳定性判断依据,并用Robotics Toolbox for Matlab仿真,结果表明:下肢外骨骼康复机器人在康复训练过程中各关节具有连续且稳定的步态轨迹,为后续脑卒中患者使用的下肢外骨骼康复机器人样机研制提供了必要的理论依据。
