Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Dedicated robot

Research on Pelvis-control Mechanism of Gait Training Robot

Author BiQiuJi
Tutor ZhangLiXun
School Harbin Engineering University
Course Mechanical and Electronic Engineering
Keywords Pelvic control mechanism Rehabilitation Control Simulation Semi-physical simulation Experimental study
CLC TP242.3
Type Master's thesis
Year 2010
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Disease , aging , trauma and accidents , will give the body leaving varying degrees of sequelae to the patients and their families bring varying degrees of trouble . And its rehabilitation robot assisted training to restore motor function of the limb is also a large number of scholars over the years research direction . Gait training robot is used for the purpose of rehabilitation of human walking , but mostly in the rehabilitation of the lower limbs as the main means , while ignoring the importance of pelvic movement . The body's pelvic then legs , even the lumbar spine is an important part of the process of movement . Coordination of pelvic movement, is the master key to the correct gait . Clinical Practice has proved that through the pots training can significantly improve the walking ability of patients with lower extremity during gait training on human pelvic rehabilitation patients to return to a good state of motion is necessary , feasible . In this paper , based on the current trajectory of the human pelvis Research , proposed a four- degree of freedom of the overall design of the control mechanism of the pelvis , and application of Pro / E 3D design software for the overall structural design of the the pelvic control mechanism motion platform , and proposed ride suspension the gravity support systems . Four - degree-of-freedom robot designed only three driving source , belong to underactuated movement robot . Therefore , the direction of movement of the undriven two constraints , namely in the spring does not fully constrained method and ropes half drive constraint method . Use the the SimMechanics built simulation model control simulation of the above two methods , in theory, to verify the feasibility of the two methods . Based on theoretical research by dSPACE real - time simulation platform semi-physical simulation of the experimental prototype experimental study confirms the correctness of theoretical analysis and practical method . Completed the drive mechanism of the pelvis control experiments, the smooth operation of the system , the tracking error to meet the design goals, validation of this pelvic control mechanism design is correct and reasonable .

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