论文标题
一种用于膝盖和脚踝脚踝复合体康复的新的4道机器人：仿真和实验
A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment
论文作者
论文摘要
固定的机器人训练师是下肢康复机器人，通常结合固定底座上的外骨骼。在文具培训师中观察到的同时膝盖和脚踝复合接头的问题是，由于这些教练的自由度不足（DOF），它们限制了脚踝脚的自然运动。这里开发了一个新的带有所有必要DOF的固定式膝盖式康复机器人。首先在模拟中实施了典型的康复培训，然后对健康受试者进行了测试。结果表明，所提出的系统自然发挥作用，并满足所需的康复培训的要求。
Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The issue observed in the stationery trainers for simultaneous knee and ankle-foot complex joints is that they restrict the natural motion of ankle-foot in the rehab trainings due to the insufficient Degrees of Freedom (DOFs) of these trainers. A new stationary knee-ankle-foot rehab robot with all necessary DOFs is developed here. A typical rehab training is first implemented in simulation, and then tested on a healthy subject. Results show that the proposed system functions naturally and meets the requirements of the desired rehab training.
