{"title":"线驱动辅助步行机器人的运动学分析","authors":"Ke-yi Wang, Hao Meng, F. Ma, Wei Wang","doi":"10.1109/ICECENG.2011.6058013","DOIUrl":null,"url":null,"abstract":"For the needs of the rehabilitation training of lower limbs, a wire-driven aid-walking robot is proposed, and the kinematic research is done in this paper. This aid-walking robot is designed according to the skeletal structure of lower limbs of the normal person. After this, the kinematic model of this system is built based on D-H method. By this model, the relationship between the length of wires and angles of body joints are obtained. To realize the physiological changing of body joints, the robot is simulated in MATLAB/Simulink, and the changing laws of lengths and velocities of wires are calculated. The results indicate that this wire-driven aid-walking robot is feasible, and provide the basis for the later dynamic analysis and servo control of this robot.","PeriodicalId":6336,"journal":{"name":"2011 International Conference on Electrical and Control Engineering","volume":"17 9 Suppl 1","pages":"2295-2298"},"PeriodicalIF":0.0000,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic analysis for the wire-driven aid walking robot\",\"authors\":\"Ke-yi Wang, Hao Meng, F. Ma, Wei Wang\",\"doi\":\"10.1109/ICECENG.2011.6058013\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"For the needs of the rehabilitation training of lower limbs, a wire-driven aid-walking robot is proposed, and the kinematic research is done in this paper. This aid-walking robot is designed according to the skeletal structure of lower limbs of the normal person. After this, the kinematic model of this system is built based on D-H method. By this model, the relationship between the length of wires and angles of body joints are obtained. To realize the physiological changing of body joints, the robot is simulated in MATLAB/Simulink, and the changing laws of lengths and velocities of wires are calculated. The results indicate that this wire-driven aid-walking robot is feasible, and provide the basis for the later dynamic analysis and servo control of this robot.\",\"PeriodicalId\":6336,\"journal\":{\"name\":\"2011 International Conference on Electrical and Control Engineering\",\"volume\":\"17 9 Suppl 1\",\"pages\":\"2295-2298\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-10-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 International Conference on Electrical and Control Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICECENG.2011.6058013\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 International Conference on Electrical and Control Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICECENG.2011.6058013","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic analysis for the wire-driven aid walking robot
For the needs of the rehabilitation training of lower limbs, a wire-driven aid-walking robot is proposed, and the kinematic research is done in this paper. This aid-walking robot is designed according to the skeletal structure of lower limbs of the normal person. After this, the kinematic model of this system is built based on D-H method. By this model, the relationship between the length of wires and angles of body joints are obtained. To realize the physiological changing of body joints, the robot is simulated in MATLAB/Simulink, and the changing laws of lengths and velocities of wires are calculated. The results indicate that this wire-driven aid-walking robot is feasible, and provide the basis for the later dynamic analysis and servo control of this robot.
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