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外骨骼机器人是将人的智慧与机器的机械动力装置相结合的一种机器人,不仅可以为操作者提供保护、身体支撑等功能,还可以在操作者的控制下完成一定的功能和任务,应用前景巨大。文中阐述人体下肢外骨骼机器人下肢外骨骼实现行走应具备的关节及其活动度,介绍下肢外骨骼机器人步态控制的基础——正常步态分析,详细论述了目前控制下肢外骨骼机器人行走及步态稳定性的主要方法。
Abstract：Exoskeleton robotic device is a kind of robot that combines the intelligence of human with the mechanical power of machine, which can not only provide protection and support for operators but also accomplish certain functions and missions under the control of operators. In this paper, relative key factors of lower extremity exoskeleton robotic device techniques are introduced briefly such as the joints and the range of motion (ROM) which the lower extremity exoskeleton should be equipped, the normal gait analysis which is the basis of gait control of the exoskeleton robot, and then the major walking control methods and gait stability control methods for lower extremity exoskeleton robotic device which are discussed in detail.
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基本信息:
DOI：
中图分类号:R318.1
引用信息:
[1]王楠,王建华,周民伟.人体下肢外骨骼机器人的步态研究现状[J].中国骨科临床与基础研究杂志,2012,4(01):62-67.
基金信息:
广东省科技计划项目(2010B010800006);; 广州市科技计划项目(2010J-E311)