Title :
Modeling and simulation of omni-directional lower limbs rehabilitation training robot
Author :
Jiang, Ying ; Bai, Baodong ; Wang, Shuoyu
Author_Institution :
Sch. of Electr. Eng., Shenyang Univ. of Technol., Shenyang, China
Abstract :
An omni-directional lower limbs rehabilitation training robot is designed to improve patient´s locomotion, who suffers from impairment in walking ability after neurology injuries. By analyzing the kinematic and dynamic characteristics of the robot, its motion control model is provided. A multi-body dynamic model of a full robot is established by using ADAMS software. In addition, the co-simulations under Matlab and ADAMS are carried out by defining I/O interface. The results show that the established model of robot is correct.
Keywords :
control engineering computing; medical computing; medical robotics; motion control; patient rehabilitation; robot dynamics; robot kinematics; ADAMS software; Matlab; motion control; multibody dynamic model; neurology injuries; omnidirectional lower limbs rehabilitation training robot; patient locomotion; robot dynamics; robot kinematics; walking ability impairment; Educational institutions; Legged locomotion; MATLAB; Mathematical model; Modeling; Training; dynamics; kinematics; modeling; omni-directional lower limbs rehabilitation training robot; simulation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359095
