Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton

Guoxin Xu; Bingqi Jia; Xiao Wei; Wenlong Bi; Huaqiang Zhang; Yanjun Zhao

doi:10.16578/j.issn.1004.2539.2021.08.020

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Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton

Test·Analysis | 更新时间：2022-11-10

- Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 139-143(2021)
- 作者机构：
  
  1.山东理工大学机械工程学院，山东淄博 255049
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.020
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徐国鑫,贾丙琪,魏笑等.一种新型多体位康复训练下肢外骨骼的设计及实验[J].机械传动,2021,45(08):139-143.

Xu Guoxin,Jia Bingqi,Wei Xiao,et al.Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton[J].Journal of Mechanical Transmission,2021,45(08):139-143.
徐国鑫,贾丙琪,魏笑等.一种新型多体位康复训练下肢外骨骼的设计及实验[J].机械传动,2021,45(08):139-143. DOI： 10.16578/j.issn.1004.2539.2021.08.020.

Xu Guoxin,Jia Bingqi,Wei Xiao,et al.Design and Experiment of a New Type of Multi-position Rehabilitation Training Lower Limb Exoskeleton[J].Journal of Mechanical Transmission,2021,45(08):139-143. DOI： 10.16578/j.issn.1004.2539.2021.08.020.

摘要

针对医学康复训练设备存在训练方式方法过于单一的问题，设计了一种新型多体位康复训练下肢外骨骼，建立了下肢外骨骼数学模型，进行了运动学仿真及分析。搭建了多位下肢康复外骨骼实验平台，进行了基于实物样机模型的步态行走实验。将仿真数据与实验数据进行对比，表明多体位下肢外骨骼设计的正确性以及合理性。

Abstract

The medical rehabilitation training equipment exists the problem that training method of is too single. A new type of multi-position rehabilitation training lower limb exoskeleton is designed， a mathematical model of the lower limb exoskeleton is established， and kinematics simulation and analysis are carried out. A multi-position lower limb rehabilitation exoskeleton experimental platform is built， and a gait walking experiment based on a physical prototype model is carried out. The simulation data and the experimental data are compared， it shows the correctness and rationality of the multi-position lower limb exoskeleton design.

关键词

康复训练多位外骨骼仿真分析样机试验

Keywords

Rehabilitation trainingMult-position exoskeletonSimulation analysisPrototype test

references

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