Design of Mechanical Structure Control System of a Lower Limb Rehabilitative Robot

机译：下肢康复机器人机械结构与控制系统的设计

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摘要

The rehabilitation robot which consists of two mechanical legs and an automatic seat was produced according to ergonomics. Each mechanical leg has three DOF. It can train patients combined with sEMG signal and FES. The rehabilitation robot has three train modes: passive mode, assistant mode and impedance mode, and it suits patients with different rehabilitation phases.

机译：根据人体工程学生产，由两个机械腿和自动座椅组成的康复机器人。每个机械腿都有三个DOF。它可以训练患者结合SEMG信号和FES。康复机器人有三种火车模式：被动模式，辅助模式和阻抗模式，它适合不同康复阶段的患者。

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《International Conference on Intelligent Mechanics and Materials Engineering》|2015年||共4页
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作者
Xiaohua Shi; Yunshan Lu; Hao Lu; Hongbo Wang;
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原文格式 PDF
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中图分类 TB3-53;
关键词
Rehabilitation Robot; Mechanical Design; Train Mode;

机译：康复机器人;机械设计;火车模式;

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1. Design and Test of Admittance Control with Inner Adaptive Robust Position Control for a Lower Limb Rehabilitation Robot [J] . Zhihang Shen, Yu Zhuang, Jie Zhou, International Journal of Control, Automation, and Systems . 2020,第1期

机译：下肢康复机器人内部自适应鲁棒位置控制设计与试验
2. Mechanical design and trajectory planning of a lower limb rehabilitation robot with a variable workspace [J] . Hongbo Wang, Yongfei Feng, Hongnian Yu, International Journal of Advanced Robotic Systems . 2018,第3期

机译：具有可变工作空间的下肢康复机器人的机械设计和轨迹规划
3. The design and control of a 3DOF lower limb rehabilitation robot [J] . Wu Junpeng, Gao Jinwu, Song Rong, Mechatronics: The Science of Intelligent Machines . 2016,第Null期

机译：三自由度下肢康复机器人的设计与控制
4. Design of Mechanical Structure Control System of a Lower Limb Rehabilitative Robot [C] . Xiaohua Shi, Yunshan Lu, Hao Lu, International Conference on Intelligent Mechanics and Materials Engineering . 2015

机译：下肢康复机械机械结构与控制系统的设计
5. Design and validation of a system for controlling a robot for 3D ultrasound scanning of the lower limbs = [D] . Zhao, Longfei. 2015

机译：设计和验证控制机器人以对下肢进行3D超声扫描的系统=
6. A New Projected Active Set Conjugate Gradient Approach for Taylor-Type Model Predictive Control: Application to Lower Limb Rehabilitation Robots With Passive and Active Rehabilitation [O] . Tian Shi, Yantao Tian, Zhongbo Sun, 2020

机译：泰勒型模型预测控制的新预计主动集共轭梯度方法：应用于肢体康复机器人与被动和主动康复的应用
7. Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system [O] . A. Valera, M. Díaz-Rodríguez, M. Valles, 2016

机译：基于模型的机电下肢康复系统的基于模型控制的控制器观察者设计和动态参数识别

Design of Mechanical Structure Control System of a Lower Limb Rehabilitative Robot

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