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7 单个步态周期内下肢外骨骼助力机器人各关节驱动力矩的理论值

Fig.7 Theoretical values of driving torque of each joint of lower limb exoskeleton assisted robot in a single gait cycle