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6 下肢外骨骼助力机器人矢状面双支撑相简图

Fig.6 Sagittal dual-support phase diagram of lower limb exoskeleton assistied robot