欠驱动异构式下肢康复机器人动力学分析及参数优化

李伟达,李娟,李想,张虹淼,顾洪,史逸鹏,张浩杰,孙立宁

Dynamic analysis and parameter optimization of under-actuated heterogeneous lower limb rehabilitation robot

Wei-da LI,Juan LI,Xiang LI,Hong-miao ZHANG,Hong GU,Yi-peng SHI,Hao-jie ZHANG,Li-ning SUN

图 11 髋、膝关节及其角度的理论曲线与实际曲线对比

Fig.11 Comparison of theoretical and actual curves of hip，knee joints and their angles