Dynamics Analysis of the Human-Machine System of the Assistive Gait Training Robot
In order to help the patients with lower limb dysfunction to complete gait rehabilitation training, a new assistive gait training robot prototype was developed. The dynamics of the human-machine system of the robot was analyzed comprehensively. The theoretical dynamics model of the human-machine system was established by using the Newton-Euler method, and the dynamic simulation model was established by Matlab/SimMechanics toolbox. The loaded dynamics model of gait mechanism was taken as the controlled object, the influence of gait training with different unloading forces and gait speeds on the driving performance of the system were analyzed. The research results verify the correctness of the theoretical dynamic analysis of the human-machine system, and it also provides a reference for the mechanical system optimization of the gait mechanism and the reasonable selection of the drive motors and lays a theoretical foundation for the research on the control method of the human-machine system.
KeywordsGait training robot Human-machine system Dynamics Simulation analysis
This research was supported by Hubei Provincial Natural Science Foundation of China under grant 2018CFB313, and the German Research Foundation(DFG) and the National Science Foundation of China (NSFC)in project Crossmodal Learning under grant TRR-169, and Xiangyang Science and Technology R&D Project, and Hubei Superior and Distinctive Discipline Group of “Mechatronics and Automobiles” under grant XKQ2019002 and XKQ2019053.
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