| 英文摘要 | Nowadays, due to plenties of patients with stroke or spinal cord injury (SCI), the number of people suffering from lower limb dysfunctions including paraplegia and hemiplegia has become huge, which arouses wide concern. Since damage of the central nervous system is the nature of the lower limb dysfunctions, the fundamental goal of doing lower limb rehabilitation excises is to stimulate the restructuring and compensatory function of the nervous system, to restore its systematic function, and to regain the motor function of the affected lower limbs. Meanwhile, in the traditional rehabilitation method generally used in domestic hospitals, the impaired limbs are usually doing excises in the help of therapists or by using simple rehabilitation machines; hence, this method is costly and has unsatisfactory effect. Lower limb rehabilitation robots (LLRRs), combining the advanced robotic techniques and rehabilitation medicine theories, can be used to reduce the labor intensity, to cut down the number of physicians or therapists involved in the rehabilitation, and to improve the rehabilitation result, and therefore, they have good potentials to be used in the rehabilitation practice. However, there are still many deficiencies in the LLRR platforms which can be found in the literature or in the market, and the feasibilities should be further validated, especially for the LLRRs of the sitting/lying type. Therefore, this type of LLRRs are studied in this thesis. Several associated deficiencies of the LLRRs presented in the literature are given, and the following two topics are mainly addressed: 1) mechanism design of the LLRR; 2) dynamics identification of the human-robot system based on the LLRR of the sitting/lying type. The mechanism design is the base of the research on lower limb rehabilitation methods implemented with LLRRs, and the dynamics identification of the human-robot system is necessary for the recognition of the human motion intention and for the active rehabilitation exercises based on the LLRR of the sitting/lying type. The main content and original contributions of this thesis are given as follows: (1) A novel orthosis for LLRRs of the sitting/lying type is designed, where the deficiencies of the existing orthoses for this type of LLRRs are overcome; meanwhile, the associated dimensions of the joint mechanisms are optimized, and the kinematic equations are derived. The designed orthosis consists of three joint mechanisms: hip, knee, and ankle, an... |
修改评论