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中文摘要
本論文研究穿戴式機械腿機構(gòu)。穿戴式機械腿是一種典型的人機一體化系統(tǒng)，該機構(gòu)是一種穿戴于人體腿部幫助有下肢乏力的患者進行康復(fù)治療的機械結(jié)構(gòu)。本文在人-機相容性方面做了詳細的分析，使本機構(gòu)在較好的穿戴位形下依靠人體的運動信息控制穿戴式機器人，在運動過程中提高人機步態(tài)的一致性，達到更好的康復(fù)治療的目的。
論文分析了國內(nèi)外研究現(xiàn)狀，了解了國內(nèi)外相關(guān)研究的背景情況、研究進展和未來的發(fā)展問題，總結(jié)了下肢康復(fù)機器人研究中還存在的問題，進而確定了本文的主要研究內(nèi)容及所需解決的關(guān)鍵問題。
本文確定了下肢康復(fù)機器人機構(gòu)的自由度，對機構(gòu)進行了關(guān)節(jié)布位，通過自由度的分析對人-機聯(lián)接模式和約束性質(zhì)進行了研究，從而確定了骨骼-機構(gòu)聯(lián)體模型。在人體骨骼模型的基礎(chǔ)上，提出了一種機構(gòu)構(gòu)型方案。對人-機相容性進行了定義，分析了人-機相容性的影響因素。在此基礎(chǔ)上分別對人體下肢骨骼模型和這種機構(gòu)構(gòu)型進行了三維模型設(shè)計。
關(guān)鍵詞:康復(fù)機器人,人-機相容性,機構(gòu)設(shè)計
Abstract
This study discusses lower extremity rehabilitative robot. The lower extremity rehabilitative robot is a typical man-machine integrated system; it is worn on the body of a limb to help patients with physical disabilities rehabilitation of mechanical devices. In this paper, man-machine compatibility has done more analysis and with well wearing this equipment to rely on the human body configuration under the control of lower extremity rehabilitative robot motion information. It improves the consistency rehabilitation of human gait in the course of the campaign to achieve better purposes.
This paper analyzes the research situation and has a research about the background of relevant research at home and abroad, progress of research and future development. Lower extremity rehabilitation robot research summarized the problems still exist, and then this article determines the main contents, and the key issues need to be resolved.
This paper has identified the DOF of lower extremity rehabilitative robot and the joint distribution of digital agencies. Through the analysis in freedom this article do the research on the human-machine connection mode and the nature binding. Two programs of mechanism are proposed based on the bone一body conjoined model. The study defines the compatibility of human-machine and analyzes the compatibility factors of human-machine. On this basis, the human skeleton model and the configuration of the two agencies are conducted by the three-dimensional model design respectively.
Keywords: rehabilitative robotics, man-machine compatibility, mechanism design
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