目 录
摘 要 ..................................................................................................................................I
Abstract ...............................................................................................................................II
目 录................................................................................................................................III
第 1 章 绪 论....................................................................................................................1
1.1 课题背景及研究的目的和意义..............................................................................1
1.2 外骨骼机器人国外研究成果、现状及分析..........................................................2
1.3 外骨骼机器人国内研究成果、现状及分析..........................................................4
1.4 主要问题的分析......................................................................................................4
第 2 章 下肢可穿戴康复助力机器人的原理分析............................................................6
2.1 人体下肢结构...................................................................................................... 6
2.1 人体下肢自由度分析..............................................................................................7
2.1 人体步态分析..........................................................................................................8
第 3 章 下肢可穿戴康复助力机器人的设计..................................................................11
3.1 驱动方式选择........................................................................................................11
3.2 外骨骼结构方案....................................................................................................13
3.3 最终设计方案........................................................................................................15
结 论................................................................................................................................18
参考文献............................................................................................................................19
致 谢................................................................................................................................20
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