牵引式下肢康复机器人机构参数优化及轨迹规划

张鹏程,牛建业,刘承磊,宋井科,王立鹏,张建军

Mechanism parameter optimization and trajectory planning of traction lower limb rehabilitation robot

Peng-cheng ZHANG,Jian-ye NIU,Cheng-lei LIU,Jing-ke SONG,Li-peng WANG,Jian-jun ZHANG

图3 人机系统坐标系

Fig.3 Human-machine system coordinate system