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《Applied Science and Technology》 2008-12
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Kinematics simulation and analysis of the wearable lower limbs rehabilitative robot

ZHANG Li-xun,ZHAO Yu-yu,HAN Xue-feng (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China)  
The freedoms of lower limbs were simplified, and the positive solution was got by setting up the lower limbs' kinematics equation for the lower limbs rehabilitative robot. The kinematics simulation model was established by using the SimMechanics and Simulink of MATLAB software. The lower limb various joints' path and the actual survey path were consistent basically, which proved the accuracy of kinematics model. And the kinematics simulation study offered important data for practical rehabilitation and the control of the rehabilitative robot.
【Key Words】: wearable robot lower limbs rehabilitation kinematics simulation MATLAB
【CateGory Index】: TP242
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【Citations】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Li-xun,ZHAO Ling-yan,WANG Lan,WANG Jian(School of Mechanical and Electrical Engineering,Harbin Engineering University, Harbin 150001,China);A new method to measure pelvis trajectory during human walking[J];Journal of Harbin Engineering University;2006-01
2 XU Zi-bin,MIN Jian-qing,HUANG Xiao-ying,SHEN Guo-zhen (ZheJiang Shuren University, ZheJiang HangZhou 310015 China);The Dynamic Analysis of the Crank-Connecting Rod of Single-Cylinder Internal Combustion Engine Base on MATLAB[J];Machinery;2004-05
【Co-citations】
Chinese Journal Full-text Database 7 Hits
1 Zhang Lixun Wang Keyi Liu Pan Zhang Jinyu (College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001);Stiffness analysis and trajectory planning of the pelvis for a wire-driven rehabilitation robot[J];Chinese High Technology Letters;2008-09
2 Zhang Lixun, Liu Pan, Wang Keyi, Zhang Jinyu (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001 );Workspace analysis and kinematics study of a wire-driven rehabilitative robot[J];Chinese High Technology Letters;2009-02
3 ZHAO Ling-yan,ZHANG Li-xun,ZHANG Jin-yu,ZHANG Xiao-chao(College of Mechanical and Electrical Engineering,Harbin Engineering Univrsity,Harbin 150001,China);An approach to modeling leftward/rightward motion trajectory of the pelvis[J];Journal of Harbin Engineering University;2007-12
4 WANG Ke-yi,GUO Tan,ZHANG Li-xun,LIU Pan,XU Sheng-lin(College of Mechanical and Electrical Engineering,Harbin Engineering Univrsity,Harbin 150001,China);The simulation and movement errors analysis of wire-driven rehabilitative robots[J];Journal of Harbin Engineering University;2008-11
5 ZHANG Liu-xun,LIU Pan,WANG Ke-yi,ZHANG Jin-yu(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China);Modeling and control of a wire-driven parallel rehabilitation robot[J];Journal of Harbin Engineering University;2009-01
6 ZHANG Li-xun,WANG Ke-yi,ZHANG Jin-yu(School of Electro-Mechanical Engineering,Harbin Polytechnic University,Harbin 150001,China);Analysis on pelvis' degree of freedom in the period of human-body gait[J];Journal of Machine Design;2008-01
7 LIU Fu-qiang1,ZHANG Li-xun1,DONG Yu-hong2,XIA Zhen-tao1 (1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China);Dynamic pelvis position control mechanism for a walking aided training robot[J];Journal of Harbin Engineering University;2009-10
【Secondary Citations】
Chinese Journal Full-text Database 2 Hits
1 Li Xiuhong,Wu Fenglin,Ren Jiajun (College of Mechanical Engineering of TUT);Motion Simulation System for Crank and Slide Block Mechanisms[J];Journal of Taiyuan University of Technology;2002-01
2 GAO Xiao-hong, CHU Jin-kui, GUO Xiao-ning (Xi'an University of Technology,Xi'an 710048,China);Force Analysis and Simulation of Kinematics of the Geared Linkage Mechanism[J];Journal of Xi'an University of Technology;2002-03
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