下肢外骨骼助力机器人动力学建模及实验研究

王月朋,汪步云

Dynamic modeling and experimental research of lower limb exoskeleton assisted robot

Yue-peng WANG,Bu-yun WANG

图5 下肢外骨骼助力机器人双支撑相动力学模型

Fig.5 Dynamic model of dual-support phase for lower limb exoskeleton assisted robot