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结合康复医学理论和人体下肢结构及运动学,设计了基于两自由度五杆机构的下肢康复训练机构.依据正常人体步态运动轨迹确定杆长,通过下肢运动区域、下肢关节转角、运动轨迹幅度等约束条件对机构有效位置进行探寻,通过改变杆长比和描点位置来实现机构的轨迹可变、幅度可调.对机构进行运动仿真结果验证了机构的合理性.机构重心稳定、结构简单、便于集成到其他健身器械,可以实现多种康复训练模式.
Based on the theory of rehabilitation medicine and the structure and kinematics of the lower extremity of the human body, a lower limb rehabilitation training mechanism based on a two-DOF five-bar linkage mechanism was designed.According to the trajectory of the normal human gait to determine the length of the lower limb, the lower extremity movement angle, And other constraints to explore the effective position of the mechanism, by changing the pole length ratio and the position of the tracing point to achieve the variable trajectory of the mechanism, the amplitude can be adjusted.The simulation results of the mechanism verify the rationality of the mechanism.The mechanism center of gravity is stable, the structure is simple, Easy to integrate into other exercise machines, enabling multiple rehabilitation training modes.