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 6 ${K}_{{\rm{fk}}}{\text{、}}$ ${L_{EG}}$和 ${h_2}$步态周期初始时刻关系图

Fig.6 Relationship of initial moment of gait cycle between ${K}_{{\rm{fk}}}$、 ${L_{EG}}$ and ${h_2}$