A mechanism design and adjusting method of rehabilitation training robot

作者：Jiang, Lijie; Wang, Yong; Gao, Aili

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2015, 43(S1): 280-283.

DOI：10.13245/j.hust.15S1067

• Desired trajectories
• Different heights
• Lower limbs rehabilitation robots
• Metamorphic mechanisms
• Normal gait
• Rehabilitation training
• Simulation tests
• Trace

A kind of five-bar metamorphic mechanism was put forward for exiting problems of the exiting problems, including complicated operations, difficulty to achieve the desired trajectory, susceptibility to form abnormal gait training and other issues. Adjusting rod can be precisely regulated according to patients for different heights and convalescences, making the mechanism metamorphoses to four-bar linkage. One can realize the gait trajectory in the sagittal plane. This paper discusses general calculation method of bar size for the use of different patients. A calculation is made in a certain height for an example. The law of metamorphism simulation test, prototype production and clinical trials all be carried on the basis of the calculation. The results show that the design of robot can realize a variety of training trajectories as required.

• 出版日期2015
• 单位合肥工业大学