下肢外骨骼机器人运动学分析与轨迹控制实现

摘要

为满足神经受损患者下肢康复训练需要,设计了外骨骼下肢康复机器人,建立了其运动学解析关系；对患者的康复策略进行了分析选择,并对康复策略的轨迹控制方法进行了研究,详细讨论了基于固高GUC -8轴嵌入式运动控制器的主被动控制实现方法.%To satisfy training demands for walking patients with impaired cranial nerves,a lower extremity exoskeleton rehabilitation robot was designed and its kinematics was deduced. After analyzing and choosing the recovery strategy for patients,the trajectory control methods were researched. The active and passive control methods based on Googol 8 axes embedded motion controller are discussed in detail.