一种步态康复训练机器人设计
Design of a Gait Rehabilitation Training Robot

针对下肢运动障碍的患者数量逐年增多，提出并设计了一种步态康复训练机器人。根据步态康复训练的要求，完成了机器人的整体结构设计和控制系统设计，制作了机器人样机，并利用INSENCO人体步态分析系统，进行了大量的人体实验，测量和记录人体步态参数。实验结果表明，所设计的步态康复训练机器人实现了自由移动和体重支承，且体重支承机构高度可调、体重支承拉力大小可调，可以达到康复训练目的。
With the increasing of lower limb movement disorder, a type of gait rehabilitation training robot has been designed. The whole mechanical structure and control system are designed to build the robot according to the requirements of gait rehabilitation training. Using the human gait analyzing system INSENCO, the lots of experiments have been measured and recorded the human gait data. And the result indicates that the robot has achieved the goal of free movement and weight-supporting. And the weight-supporting mechanism are flexible both the height and the tension so as to realize the goal of rehabilitation training