基于力反馈导纳控制的踝关节柔性外骨骼

陈栋,李伟达,张虹淼,李娟

Ankle flexible exoskeleton based on force feedback admittance control

Dong CHEN,Weida LI,Hongmiao ZHANG,Juan LI

图 7 机器人坐标系及运动学分析示意图

Fig.7 Diagram of robot coordinate system and kinematic analysis