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为帮助下肢功能障碍患者实现正常的站起运动,设计了多功能助行机器人的起坐机构,该机构的运动控制仅使用了单个驱动元件.利用由关节转角测量系统、节拍器及dSPACE半物理仿真平台组成的信息测量系统,获取正常人站起过程中髋、膝、踝关节的运动信息.在这一基础上,利用SimMechanics对人体站起过程进行了运动学仿真分析,并模拟臀部的运动规律设计了起坐机构末端的运动.在助行机器人样机的帮助下,真人实验中的受试者能够完成从坐姿到站姿的转换.
In order to help patients with lower extremity dysfunction achieve normal standing up, a multi-functional robotic swivel mechanism is designed with motion control using only a single drive element.Using the joint angle measurement system, metronome and dSPACE semi-physical Simulation platform composed of information measurement system to get the normal human standing hip, knee and ankle movement information on this basis, the use of SimMechanics on the human body from the process of kinematics simulation analysis and simulation of hip movement The law designed the movement of the end of the sitting mechanism, and with the help of a walking robot prototype, the subjects in the live experiment were able to complete the transition from sitting position to standing position.