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 4 髋关节推力系数与 ${\theta _3}$、 $\alpha $的关系图

Fig.4 Relationship between hip thrust coefficient and ${\theta _3}$、 $\alpha $