下肢康复机器人运动学分析与运动控制实现研究

针对现今越来越多脑卒中患者，设计出一款可以达到康复目的的下肢外骨骼康复机器人，并根据本课题所设计的机械结构进行了运动学分析；对患者的康复策略进行了分析，并对所要求康复策略的轨迹控制进行研究，详细分析了基于被动模式下主控机控制运动轨迹生成的实现。

Kinematics Analysis and Motion Control Research of Lower Limb Rehabilitation Robot

For today's more and more patients with stroke, designing a lower extremity exoskeleton rehabilitation robot for the purpose of recovery, and according to the mechanical structure designed by the subject to establish kinematic analytic relations. After analyzing the recovery strategy for patients and researching rehabilitation trajectory, the trajectory based on passive control mode were analyzed in detail.