Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot
With the rapid development of science and technology, robots are widely used in rehabilitation training. According to the physiological structure of human lower limbs and gait characteristics of walking, a lower limb rehabilitation robot is designed in this paper. We design the structure in a form o...
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2018-01-01
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Series: | MATEC Web of Conferences |
Online Access: | https://doi.org/10.1051/matecconf/201823202032 |
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doaj-937ec1ff3d0a40dd92cea632d1e677f62021-02-02T04:37:26ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-012320203210.1051/matecconf/201823202032matecconf_eitce2018_02032Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation RobotWang ZhimingCui LizhenCai ZhenglongPang ChangfuWith the rapid development of science and technology, robots are widely used in rehabilitation training. According to the physiological structure of human lower limbs and gait characteristics of walking, a lower limb rehabilitation robot is designed in this paper. We design the structure in a form of exoskeleton with three degrees of freedom in which kinematics analysis is carried out by the D-H coordinate transformation method. And then we obtain the relationship between the end effector and the angle of each joint. In addition, the relationship between end effector speed and joint speed is obtained through Jacobian matrix and Lagrange equilibrium method is used for dynamic analysis. The joint torque is calculated through the joint speed and three dimensional modeling of lower limb rehabilitation robot was reconstructed by Pro-e. Finally, the driving mode is selected and calculated.https://doi.org/10.1051/matecconf/201823202032 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Wang Zhiming Cui Lizhen Cai Zhenglong Pang Changfu |
spellingShingle |
Wang Zhiming Cui Lizhen Cai Zhenglong Pang Changfu Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot MATEC Web of Conferences |
author_facet |
Wang Zhiming Cui Lizhen Cai Zhenglong Pang Changfu |
author_sort |
Wang Zhiming |
title |
Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot |
title_short |
Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot |
title_full |
Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot |
title_fullStr |
Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot |
title_full_unstemmed |
Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot |
title_sort |
modeling analysis and structural design of human lower limb rehabilitation robot |
publisher |
EDP Sciences |
series |
MATEC Web of Conferences |
issn |
2261-236X |
publishDate |
2018-01-01 |
description |
With the rapid development of science and technology, robots are widely used in rehabilitation training. According to the physiological structure of human lower limbs and gait characteristics of walking, a lower limb rehabilitation robot is designed in this paper. We design the structure in a form of exoskeleton with three degrees of freedom in which kinematics analysis is carried out by the D-H coordinate transformation method. And then we obtain the relationship between the end effector and the angle of each joint. In addition, the relationship between end effector speed and joint speed is obtained through Jacobian matrix and Lagrange equilibrium method is used for dynamic analysis. The joint torque is calculated through the joint speed and three dimensional modeling of lower limb rehabilitation robot was reconstructed by Pro-e. Finally, the driving mode is selected and calculated. |
url |
https://doi.org/10.1051/matecconf/201823202032 |
work_keys_str_mv |
AT wangzhiming modelinganalysisandstructuraldesignofhumanlowerlimbrehabilitationrobot AT cuilizhen modelinganalysisandstructuraldesignofhumanlowerlimbrehabilitationrobot AT caizhenglong modelinganalysisandstructuraldesignofhumanlowerlimbrehabilitationrobot AT pangchangfu modelinganalysisandstructuraldesignofhumanlowerlimbrehabilitationrobot |
_version_ |
1724305393143775232 |