CAJ | 학술논문

人体上肢是个极其复杂的运动系统,其运动具有复杂性和随意性.研究上肢外骨骼的运动特性为手臂外骨骼的设计提供了重要的参数依据和指导意义.提出了四自由度外骨骼机构并论述了其合理性,建立了四自由度的上肢模型及其运动学方程.运用逆向运动学的方法在多种运动轨迹下对上肢运动进行仿真,并对各机构之间运动关系进行测量和分析.仿真结果为外骨骼系统的智能控制及康复训练提供了有效的参考依据.
인체상지시개겁기복잡적운동계통,기운동구유복잡성화수의성.연구상지외골격적운동특성위수비외골격적설계제공료중요적삼수의거화지도의의.제출료사자유도외골격궤구병논술료기합이성,건립료사자유도적상지모형급기운동학방정.운용역향운동학적방법재다충운동궤적하대상지운동진행방진,병대각궤구지간운동관계진행측량화분석.방진결과위외골격계통적지능공제급강복훈련제공료유효적삼고의거.
The human arm is a very complex motion system, the motion is complexity and randomly. Researching the motion characteristic of exoskeleton arm will povide important parameter refemce and guidance meaning for the design of ann exoskeleton. A 4-DOF arm exoskeleton is put forward and its rationality, built a 4-DOF upper limb modle and the kinematics equations are discussed. Using the method of inverse kinematics in a variety of trajectory simulation of upper limb movement, and the relationship between agencies movement are measured and analyzesd. The simulation result povides an effective reference to the intelligent control and rehabilitation training of arm exoskeletons.