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10 下肢外骨骼助力机器人水平行走时的关节驱动力矩和液压缸驱动力仿真结果

Fig.10 Simulation results of joint driving torque and hydraulic cylinder driving force of lower limb exoskeleton assisted robot during horizontal walking