Dimensional Synthesis Design of a Walking Aided Training Robot
In order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle...
Saved in:
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2018-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.013 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547456523796480 |
|---|---|
| author | Qin Tao |
| author_facet | Qin Tao |
| author_sort | Qin Tao |
| collection | DOAJ |
| description | In order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle joint attitude restraining mechanism and aided knee flexion mechanism is carried out to determine the optimal size parameters of the mechanism. According to the rotation laws and range of the plantar,the trajectory of restraint guide rail ζof ankle joint attitude restraining mechanism is comprehensively determined,and the effects of confined guide way inclination angle and pedal length on the angle range of ankle joint are analyzed. The aided knee flexion mechanism is designed to help the affected limbs flexibly in the knee during walking training,and the influence of mechanism dimension on the aided knee flexion is analyzed and determined. The simulation model of the mechanism is established by using the Matlab toolbox,and the rationality of dimensional synthesis optimization and the feasibility of robot mechanism design is verified by the results of simulation analysis. |
| format | Article |
| id | doaj-art-f4fd05381b9f4cdcb53c119eb2bcc4ad |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-f4fd05381b9f4cdcb53c119eb2bcc4ad2025-01-10T14:41:34ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142616529937723Dimensional Synthesis Design of a Walking Aided Training RobotQin TaoIn order to help patients with lower extremity dysfunction complete walking rehabilitation training,a plantar-driven walking aided training robot mechanism is designed. According to the change laws of ankle and knee joint posture during normal walking,the dimensional synthesis optimization of ankle joint attitude restraining mechanism and aided knee flexion mechanism is carried out to determine the optimal size parameters of the mechanism. According to the rotation laws and range of the plantar,the trajectory of restraint guide rail ζof ankle joint attitude restraining mechanism is comprehensively determined,and the effects of confined guide way inclination angle and pedal length on the angle range of ankle joint are analyzed. The aided knee flexion mechanism is designed to help the affected limbs flexibly in the knee during walking training,and the influence of mechanism dimension on the aided knee flexion is analyzed and determined. The simulation model of the mechanism is established by using the Matlab toolbox,and the rationality of dimensional synthesis optimization and the feasibility of robot mechanism design is verified by the results of simulation analysis.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.013Rehabilitation robotGait trainingDimensional synthesis design |
| spellingShingle | Qin Tao Dimensional Synthesis Design of a Walking Aided Training Robot Jixie chuandong Rehabilitation robot Gait training Dimensional synthesis design |
| title | Dimensional Synthesis Design of a Walking Aided Training Robot |
| title_full | Dimensional Synthesis Design of a Walking Aided Training Robot |
| title_fullStr | Dimensional Synthesis Design of a Walking Aided Training Robot |
| title_full_unstemmed | Dimensional Synthesis Design of a Walking Aided Training Robot |
| title_short | Dimensional Synthesis Design of a Walking Aided Training Robot |
| title_sort | dimensional synthesis design of a walking aided training robot |
| topic | Rehabilitation robot Gait training Dimensional synthesis design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.013 |
| work_keys_str_mv | AT qintao dimensionalsynthesisdesignofawalkingaidedtrainingrobot |