下肢康复外骨骼机器人设计与性能分析
常佳辰(
),韩亚丽(),孙翰,史传棋,赵天
),韩亚丽(),孙翰,史传棋,赵天
Design and performance analysis of lower limb rehabilitation exoskeleton robot
Jiachen CHANG(),Yali HAN(),Han SUN,Chuanqi SHI,Tian ZHAO
),Yali HAN(),Han SUN,Chuanqi SHI,Tian ZHAO
图7. 人机耦合模型输出的残余力和残余力矩
Fig.7. Residual force and residual torque output from human-machine coupling model
