柔顺膝关节康复器建模及仿真研究

摘要

对所研发的柔顺膝关节康复器进行了建模研究,建立了膝关节康复训练中转角与驱动力以及位移之间的数学模型,并进行了仿真研究.结果表明,驱动力随着转角的增加而减小；转角变化率随转角的增加而减小.%This paper makes a study of the theoretical modeling of the developing compliant rehabilitation appliance for knee joint, proposes the mathematical model of angle - driving force and angle- displacement for the knee joint rehabilitation training and carries out the simulation. The simulation results show that the driving force and change rate of angle decrease with the increase of angle.