CAJ | 학술논문

通过分析人的下肢各关节的特征及自由度，设计可穿戴式下肢康复外骨骼机器人结构，利用CAD软件solidworks进行三维建模。为了实现可穿戴式下肢康复外骨骼机器人稳定行走功能，本文运用零力矩点( ZMP)判断依据进行步态规划。在机器人进行步态规划时采用三次样条插值法得到可穿戴式下肢康复外骨骼机器人各关节的平滑运动轨迹，同时，摆动腿在运动过程中脚底与地面始终平行。最后在ADAMS软件中建立可穿戴式下肢康复外骨骼机器人的虚拟样机进行运动学仿真。
통과분석인적하지각관절적특정급자유도，설계가천대식하지강복외골격궤기인결구，이용CAD연건solidworks진행삼유건모。위료실현가천대식하지강복외골격궤기인은정행주공능，본문운용령력구점( ZMP)판단의거진행보태규화。재궤기인진행보태규화시채용삼차양조삽치법득도가천대식하지강복외골격궤기인각관절적평활운동궤적，동시，파동퇴재운동과정중각저여지면시종평행。최후재ADAMS연건중건립가천대식하지강복외골격궤기인적허의양궤진행운동학방진。
Through analyzing the characteristics and freedom of human lower extremity joints, this paper designs a structure of the wearable lower limbs rehabilitation exoskeleton robot and builds a three-dimensional modeling by solidworks software of CAD. In order to realize the function of the stable walking for the wearable lower limbs rehabilitation exoskeleton robot,it uses the principle of ZMP to plan gait. In the process of planning gait,it gets the smooth trajectory of every joint by cubic spline interpolation, keeping the foot of swinging legs parallel to the ground. Finally, it establishes a virtual prototype of the wearable lower limb rehabilitation exoskeleton robot and makes a simulation in ADAMS software.